From 13ddd4a48686349ccac6f70371abaaa11c020b17 Mon Sep 17 00:00:00 2001 From: Ariiees Date: Mon, 10 Jun 2024 17:10:32 -0400 Subject: [PATCH 001/306] ROS Node configuration Signed-off-by: Ariiees --- sensing/pointcloud_preprocessor/README.md | 25 ++-- ...roximate_downsample_filter_param_file.yaml | 6 + .../blockage_diagnostics_param_file.yaml | 4 + .../concatenate_and_time_sync_param_file.yaml | 12 ++ .../concatenate_pointclouds_param_file.yaml | 8 ++ .../config/crop_box_filter_param_file.yaml | 10 ++ .../distortion_corrector_param_file.yaml | 5 + ...dual_return_outlier_filter_param_file.yaml | 19 +++ .../config/filter_param_file.yaml | 9 ++ .../lanelet2_map_filter_param_file.yaml | 4 + .../passthrough_filter_unit16_param_file.yaml | 7 ++ ...xel_grid_downsample_filter_param_file.yaml | 5 + .../pointcloud_accumulator_param_file.yaml | 4 + ...s_search_2d_outlier_filter_param_file.yaml | 4 + .../random_downsample_filter_param_file.yaml | 3 + .../ring_outlier_filter_param_file.yaml | 14 +++ .../config/time_synchronizer_param_file.yaml | 11 ++ ...tor_map_inside_area_filter_param_file.yaml | 5 + ...xel_grid_downsample_filter_param_file.yaml | 5 + .../voxel_grid_outlier_filter_param_file.yaml | 6 + .../launch/blockage_diag.launch.xml | 2 + .../dual_return_outlier_filter.launch.xml | 8 +- .../launch/polygon_remover.launch.py | 7 +- .../launch/preprocessor.launch.py | 20 ++- .../random_downsample_filter.launch.xml | 7 +- .../launch/ring_passthrough_filter.launch.xml | 7 +- .../schema/blockage_diag.schema.json | 103 +++++++++++++++ .../dual_return_outlier_filter.schema.json | 117 ++++++++++++++++++ .../schema/filter.schema.json | 59 +++++++++ .../random_downsample_filter.schema.json | 33 +++++ .../ring_passthrough_filter.schema.json | 91 ++++++++++++++ .../concatenate_and_time_sync_nodelet.cpp | 18 +-- .../concatenate_pointclouds.cpp | 10 +- .../crop_box_filter_nodelet.cpp | 14 +-- .../distortion_corrector.cpp | 4 +- .../approximate_downsample_filter_nodelet.cpp | 6 +- ...kup_based_voxel_grid_downsample_filter.cpp | 6 +- .../random_downsample_filter_nodelet.cpp | 2 +- .../voxel_grid_downsample_filter_nodelet.cpp | 6 +- .../pointcloud_preprocessor/src/filter.cpp | 12 +- .../dual_return_outlier_filter_nodelet.cpp | 34 ++--- ...adius_search_2d_outlier_filter_nodelet.cpp | 4 +- .../ring_outlier_filter_nodelet.cpp | 26 ++-- .../voxel_grid_outlier_filter_nodelet.cpp | 8 +- .../passthrough_filter_uint16_nodelet.cpp | 10 +- .../pointcloud_accumulator_nodelet.cpp | 4 +- .../time_synchronizer_nodelet.cpp | 16 +-- .../lanelet2_map_filter_nodelet.cpp | 4 +- .../vector_map_inside_area_filter.cpp | 6 +- 49 files changed, 693 insertions(+), 117 deletions(-) create mode 100644 sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.yaml create mode 100644 sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/README.md b/sensing/pointcloud_preprocessor/README.md index 5c6402efdf23d..43b91632083c6 100644 --- a/sensing/pointcloud_preprocessor/README.md +++ b/sensing/pointcloud_preprocessor/README.md @@ -45,14 +45,23 @@ Detail description of each filter's algorithm is in the following links. ### Node Parameters -| Name | Type | Default Value | Description | -| ------------------ | ------ | ------------- | ------------------------------------- | -| `input_frame` | string | " " | input frame id | -| `output_frame` | string | " " | output frame id | -| `max_queue_size` | int | 5 | max queue size of input/output topics | -| `use_indices` | bool | false | flag to use pointcloud indices | -| `latched_indices` | bool | false | flag to latch pointcloud indices | -| `approximate_sync` | bool | false | flag to use approximate sync option | +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/filter.schema.json") }} + +### blockage_diag + +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json") }} + +### dual_return_outlier_filter + +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json") }} + +### random_downsample_filter + +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json") }} + +### ring_passthrough_filter + +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml new file mode 100644 index 0000000000000..68fbb61647d21 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + ## Paramters in approximate_downsample_filter_nodelet.cpp + voxel_size_x: 0.3 + voxel_size_y: 0.3 + voxel_size_z: 0.1 \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml b/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml index 13ddd8a7c7590..589f7155132cd 100644 --- a/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml @@ -14,3 +14,7 @@ max_distance_range: 200.0 horizontal_resolution: 0.4 blockage_kernel: 10 + + + + diff --git a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml new file mode 100644 index 0000000000000..47505eaf29580 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + ## Paramters in concatenate_and_time_sync_nodelet.cpp + input_twist_topic_type: twist + output_frame: "" + input_topics: [] + max_queue_size: 5 + timeout_sec: 0.1 + input_offset: [] + publish_synchronized_pointcloud: true + keep_input_frame_in_synchronized_pointcloud: true + synchronized_pointcloud_postfix: pointcloud \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml new file mode 100644 index 0000000000000..6365ee1aafac7 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + ## Paramters in concatenate_pointclouds.cpp + output_frame: "" + input_topics: [] + max_queue_size: 5 + timeout_sec: 0.033 + input_offset: [] \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml new file mode 100644 index 0000000000000..0a2bc74df9df0 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + ## Paramters in crop_box_filter_nodelet.cpp + min_x: -1.0 + min_y: -1.0 + min_z: -1.0 + max_x: 1.0 + max_y: 1.0 + max_z: 1.0 + negative: false \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml b/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml new file mode 100644 index 0000000000000..6ac0af6304b2c --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + ## Paramters in distortion_corrector.cpp + time_stamp_field_name: "time_stamp" + use_imu: true \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml new file mode 100644 index 0000000000000..2527dc5f691d0 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml @@ -0,0 +1,19 @@ +/**: + ros__parameters: + x_max: 18.0 + x_min: -12.0 + y_max: 2.0 + y_min: -2.0 + z_max: 10.0 + z_min: 0.0 + min_azimuth_deg: 135.0 + max_azimuth_deg: 225.0 + max_distance: 12.0 + vertical_bins: 128 + max_azimuth_diff: 50.0 + weak_first_distance_ratio: 1.004 + general_distance_ratio: 1.03 + weak_first_local_noise_threshold: 2 + roi_mode: "Fixed_xyz_ROI" + visibility_error_threshold: 0.5 + visibility_warn_threshold: 0.7 \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/filter_param_file.yaml new file mode 100644 index 0000000000000..f4bfa91ea84aa --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/filter_param_file.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + ## Paramters in filter.cpp + input_frame: "" + output_frame: "" + max_queue_size: 5 + use_indices: false + latched_indices: false + approximate_sync: false \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml new file mode 100644 index 0000000000000..295cd8db0df42 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + voxel_size_x: 0.04 + voxel_size_y: 0.04 \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml b/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml new file mode 100644 index 0000000000000..66caaa38edd95 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + filter_limit_min: 0 + filter_limit_max: 127 + filter_field_name: "ring" + keep_organized: false + filter_limit_negative: false \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml new file mode 100644 index 0000000000000..7ec5f72152905 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + voxel_size_x: 1.0 + voxel_size_y: 1.0 + voxel_size_z: 1.0 \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml b/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml new file mode 100644 index 0000000000000..e38e27ecf133b --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + accumulation_time_sec: 2.0 + pointcloud_buffer_size: 50 \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml new file mode 100644 index 0000000000000..15a00ea650a3e --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + min_neighbors: 5 + search_radius: 0.2 \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml new file mode 100644 index 0000000000000..bb1799bf30691 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + sample_num: 1500 \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml new file mode 100644 index 0000000000000..d93d616bdf77a --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + distance_ratio: 1.03 + object_length_threshold: 0.1 + num_points_threshold: 4 + max_rings_num: 128 + max_points_num_per_ring: 4000 + publish_outlier_pointcloud: false + min_azimuth_deg: 0.0 + max_azimuth_deg: 360.0 + max_distance: 12.0 + vertical_bins: 128 + horizontal_bins: 36 + noise_threshold: 2 \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml b/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml new file mode 100644 index 0000000000000..5b94f626a4f48 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + input_twist_topic_type: "twist" + output_frame: "" + keep_input_frame_in_synchronized_pointcloud: false + input_topics: [] + synchronized_pointcloud_postfix: "pointcloud" + max_queue_size: 5 + timeout_sec: 0.1 + input_offset: [] + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml new file mode 100644 index 0000000000000..40a5c96a9ca8f --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + polygon_type: "no_obstacle_segmentation_area" + use_z_filter: false + z_threshold: 0.0f \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml new file mode 100644 index 0000000000000..6350d8541dc01 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + voxel_size_x: 0.3 + voxel_size_y: 0.3 + voxel_size_z: 0.1 \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.yaml new file mode 100644 index 0000000000000..2ff4c64d5f835 --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + voxel_size_x: 0.3 + voxel_size_y: 0.3 + voxel_size_z: 0.1 + voxel_points_threshold: 2 diff --git a/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml b/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml index 5a93cb950b827..90902ccf7a5d3 100644 --- a/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml @@ -6,6 +6,7 @@ + @@ -14,5 +15,6 @@ + diff --git a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml index db51e9bafc90e..9f04075f79bfd 100644 --- a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml @@ -1,21 +1,23 @@ - - + + + - + + diff --git a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py index 98bc5a6dd2699..6ba7e3154ab55 100644 --- a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py +++ b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py @@ -29,6 +29,10 @@ def generate_launch_description(): get_package_share_directory("autoware_vehicle_info_utils"), "config/polygon_remover.yaml" ) + shared_filter_file = os.path.join( + get_package_share_directory("pointcloude_preprocessor"), "config/filter_param_file.yaml" + ) + with open(param_file, "r") as f: polygon_remover_param = yaml.safe_load(f)["/**"]["ros__parameters"] @@ -40,7 +44,8 @@ def generate_launch_description(): { "polygon_vertices": polygon_remover_param["polygon_vertices"], "will_visualize": polygon_remover_param["will_visualize"], - } + }, + shared_filter_file ], ) diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py index d82c23152aee4..a4cef7f75caf2 100644 --- a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py +++ b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py @@ -20,6 +20,9 @@ from launch.substitutions import PythonExpression from launch_ros.actions import ComposableNodeContainer from launch_ros.descriptions import ComposableNode +import os +import yaml +from ament_index_python.packages import get_package_share_directory def launch_setup(context, *args, **kwargs): @@ -33,6 +36,11 @@ def launch_setup(context, *args, **kwargs): separate_concatenate_node_and_time_sync_node.lower() == "true" ) + shared_filter_file = os.path.join( + get_package_share_directory("pointcloud_preprocessor"), "config/filter_param_file.yaml" + ) + + if not is_separate_concatenate_node_and_time_sync_node: sync_and_concat_component = ComposableNode( package=pkg, @@ -49,7 +57,8 @@ def launch_setup(context, *args, **kwargs): "approximate_sync": True, "publish_synchronized_pointcloud": False, "input_twist_topic_type": "twist", - } + }, + shared_filter_file ], ) concat_components = [sync_and_concat_component] @@ -67,7 +76,8 @@ def launch_setup(context, *args, **kwargs): "input_topics": LaunchConfiguration("input_points_raw_list"), "output_frame": LaunchConfiguration("tf_output_frame"), "approximate_sync": True, - } + }, + shared_filter_file ], ) @@ -81,7 +91,8 @@ def launch_setup(context, *args, **kwargs): "input_topics": LaunchConfiguration("input_points_raw_list"), "output_frame": LaunchConfiguration("tf_output_frame"), "approximate_sync": True, - } + }, + shared_filter_file ], ) concat_components = [time_sync_component, concat_component] @@ -117,7 +128,8 @@ def launch_setup(context, *args, **kwargs): "min_z": -2.0, "max_z": 3.0, "negative": False, - } + }, + shared_filter_file ], ) diff --git a/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml index edd4f6e92aa8d..7374452e2e9fb 100644 --- a/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml @@ -1,17 +1,18 @@ - - + + - + + diff --git a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml index c121a7f0af6ac..34bd5fa71d72c 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml @@ -1,7 +1,6 @@ - @@ -9,11 +8,11 @@ - + + - @@ -21,5 +20,7 @@ + + diff --git a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json new file mode 100644 index 0000000000000..789155d175104 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json @@ -0,0 +1,103 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "blockage_diag", + "type": "object", + "definitions": { + "blockage_diag": { + "type": "object", + "properties": { + "blockage_ratio_threshold": { + "type": "number", + "description": "blockage ration threshold", + "default": "0.1" + }, + "blockage_count_threshold": { + "type": "number", + "description": "blockage count threshold", + "default": "50" + }, + "blockage_buffering_frames": { + "type": "number", + "description": "blockage buffering frames", + "default": "2" + }, + "blockage_buffering_interval": { + "type": "number", + "description": "blockage buffering interval", + "default": "1" + }, + "enable_dust_diag": { + "type": "boolean", + "description": "enable dust diag", + "default": "false" + }, + "publish_debug_image": { + "type": "boolean", + "description": "eanble debug", + "default": "false" + }, + "dust_ratio_threshold": { + "type": "number", + "description": "dust ration threshold", + "default": "0.2" + }, + "dust_count_threshold": { + "type": "number", + "description": "dust count threshold", + "default": "10" + }, + "dust_kernel_size": { + "type": "number", + "description": "dust kernel size", + "default": "2" + }, + "dust_buffering_frames": { + "type": "number", + "description": "dust buffering frames", + "default": "10" + }, + "dust_buffering_interval": { + "type": "number", + "description": "dust buffering interval", + "default": "1" + }, + "max_distance_range": { + "type": "number", + "description": "max distance range", + "default": "200.0" + }, + "horizontal_resolution": { + "type": "number", + "description": "horizontal resolution", + "default": "INSERT_DEFAULT" + }, + "blockage_kernel": { + "type": "number", + "description": "blockage kernel", + "default": "10" + } + }, + "required": ["blockage_ratio_threshold", "blockage_count_threshold", + "blockage_buffering_frames", "blockage_buffering_interval", + "enable_dust_diag", "publish_debug_image", "dust_ratio_threshold", + "dust_count_threshold", "dust_kernel_size", "dust_buffering_frames", + "dust_buffering_interval", "max_distance_range", + "horizontal_resolution", "blockage_kernel"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/blockage_diag" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json new file mode 100644 index 0000000000000..8e94d8662eb93 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json @@ -0,0 +1,117 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "dual_return_outlier_filter", + "type": "object", + "definitions": { + "dual_return_outlier_filter": { + "type": "object", + "properties": { + "x_max": { + "type": "number", + "description": "max distance on x", + "default": "18.0" + }, + "x_min": { + "type": "number", + "description": "min distance on x", + "default": "-12.0" + }, + "y_max": { + "type": "number", + "description": "max distance on y", + "default": "2.0" + }, + "y_min": { + "type": "number", + "description": "min distance on y", + "default": "-2.0" + }, + "z_max": { + "type": "number", + "description": "max distance on z", + "default": "10.0" + }, + "z_min": { + "type": "number", + "description": "min distance on z", + "default": "0.0" + }, + "min_azimuth_deg": { + "type": "number", + "description": "minium azimuth degree", + "default": "135.0" + }, + "max_azimuth_deg": { + "type": "number", + "description": "maximum azimuth degree", + "default": "225.0" + }, + "max_distance": { + "type": "number", + "description": "maximum distance", + "default": "12.0" + }, + "vertical_bins": { + "type": "number", + "description": "vertical bins", + "default": "128" + }, + "max_azimuth_diff": { + "type": "number", + "description": "max azimuth diff", + "default": "50" + }, + "weak_first_distance_ratio": { + "type": "number", + "description": "weak first distance ratio", + "default": "1.004" + }, + "general_distance_ratio": { + "type": "number", + "description": "general distance ratio", + "default": "1.03" + }, + "weak_first_local_noise_threshold": { + "type": "number", + "description": "weak first local noise threshold", + "default": "2" + }, + "roi_mode": { + "type": "string", + "description": "roi mode", + "default": "Fixed_xyz_ROI" + }, + "visibility_error_threshold": { + "type": "number", + "description": "visibility error threshold", + "default": "0.5" + }, + "visibility_warn_threshold": { + "type": "number", + "description": "visibility warn threshold", + "default": "0.7" + } + }, + "required": ["x_max", "x_min", "y_max", "y_min", "z_max", + "z_min", "min_azimuth_deg", "max_azimuth_deg", "max_distance", + "vertical_bins", "max_azimuth_diff", "weak_first_distance_ratio", + "general_distance_ratio", "weak_first_local_noise_threshold", + "roi_mode", "visibility_error_threshold", "visibility_warn_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/dual_return_outlier_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/filter.schema.json b/sensing/pointcloud_preprocessor/schema/filter.schema.json new file mode 100644 index 0000000000000..267b1735cf439 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/filter.schema.json @@ -0,0 +1,59 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "filter", + "type": "object", + "definitions": { + "filter": { + "type": "object", + "properties": { + "input_frame": { + "type": "string", + "description": "input frame", + "default": "" + }, + "output_frame": { + "type": "string", + "description": "output frame", + "default": "" + }, + "max_queue_size": { + "type": "number", + "description": "max queue size of input", + "default": 5 + }, + "use_indices": { + "type": "boolean", + "description": "flag to use pointcloud", + "default": false + }, + "latched_indices": { + "type": "boolean", + "description": "flag to latch pointcloud", + "default": false + }, + "approximate_sync": { + "type": "boolean", + "description": "flag to use approximate sync", + "default": false + } + }, + "required": ["input_frame", "output_frame", "max_queue_size", + "use_indices", "latched_indices", "approximate_sync"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json new file mode 100644 index 0000000000000..703e77a61d436 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json @@ -0,0 +1,33 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "random_downsample_filter", + "type": "object", + "definitions": { + "random_downsample_filter": { + "type": "object", + "properties": { + "sample_num": { + "type": "number", + "description": "sample numbers", + "default": "1500" + } + }, + "required": ["sample_num"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/random_downsample_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json b/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json new file mode 100644 index 0000000000000..1d657a3be3c9e --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json @@ -0,0 +1,91 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "ring_outlier_filter", + "type": "object", + "definitions": { + "ring_outlier_filter": { + "type": "object", + "properties": { + "distance_ratio": { + "type": "number", + "description": "distance ratio", + "default": "1.03" + }, + "object_length_threshold": { + "type": "number", + "description": "object length threshold", + "default": "0.1" + }, + "num_points_threshold": { + "type": "number", + "description": "number points threshold", + "default": "4" + }, + "max_rings_num": { + "type": "number", + "description": "max rings number", + "default": "128" + }, + "max_points_num_per_ring": { + "type": "number", + "description": "maximum points number per ring", + "default": "4000" + }, + "publish_outlier_pointcloud": { + "type": "boolean", + "description": "enable publish outlier pointcloud", + "default": "false" + }, + "min_azimuth_deg": { + "type": "number", + "description": "minimu azimuth degree", + "default": "0.0" + }, + "max_azimuth_deg": { + "type": "number", + "description": "maximum azimuth degree", + "default": "360.0" + }, + "max_distance": { + "type": "number", + "description": "maximum distance", + "default": "12.0" + }, + "vertical_bins": { + "type": "number", + "description": "vertical bins", + "default": "128" + }, + "horizontal_bins": { + "type": "number", + "description": "horizontal bins", + "default": "36" + }, + "noise_threshold": { + "type": "number", + "description": "noise threshold", + "default": "2" + } + }, + "required": ["distance_ratio", "object_length_threshold", + "num_points_threshold", "max_rings_num", "max_points_num_per_ring", + "publish_outlier_pointcloud", "min_azimuth_deg", "max_azimuth_deg", + "max_distance", "vertical_bins", "horizontal_bins", "noise_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/ring_outlier_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index 4fd28e02cc74f..ab431d2f5e61e 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -71,7 +71,7 @@ namespace pointcloud_preprocessor PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchronizerComponent( const rclcpp::NodeOptions & node_options) : Node("point_cloud_concatenator_component", node_options), - input_twist_topic_type_(declare_parameter("input_twist_topic_type", "twist")) + input_twist_topic_type_(declare_parameter("input_twist_topic_type")) { // initialize debug tool { @@ -85,12 +85,12 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro // Set parameters { - output_frame_ = static_cast(declare_parameter("output_frame", "")); + output_frame_ = declare_parameter("output_frame"); if (output_frame_.empty()) { RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!"); return; } - declare_parameter("input_topics", std::vector()); + declare_parameter>("input_topics"); input_topics_ = get_parameter("input_topics").as_string_array(); if (input_topics_.empty()) { RCLCPP_ERROR(get_logger(), "Need a 'input_topics' parameter to be set before continuing!"); @@ -102,21 +102,21 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro } // Optional parameters - maximum_queue_size_ = static_cast(declare_parameter("max_queue_size", 5)); - timeout_sec_ = static_cast(declare_parameter("timeout_sec", 0.1)); + maximum_queue_size_ = declare_parameter("max_queue_size"); + timeout_sec_ = declare_parameter("timeout_sec"); - input_offset_ = declare_parameter("input_offset", std::vector{}); + input_offset_ = declare_parameter>("input_offset"); if (!input_offset_.empty() && input_topics_.size() != input_offset_.size()) { RCLCPP_ERROR(get_logger(), "The number of topics does not match the number of offsets."); return; } // Check if publish synchronized pointcloud - publish_synchronized_pointcloud_ = declare_parameter("publish_synchronized_pointcloud", true); + publish_synchronized_pointcloud_ = declare_parameter("publish_synchronized_pointcloud"); keep_input_frame_in_synchronized_pointcloud_ = - declare_parameter("keep_input_frame_in_synchronized_pointcloud", true); + declare_parameter("keep_input_frame_in_synchronized_pointcloud"); synchronized_pointcloud_postfix_ = - declare_parameter("synchronized_pointcloud_postfix", "pointcloud"); + declare_parameter("synchronized_pointcloud_postfix"); } // Initialize not_subscribed_topic_names_ diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index 29f0bf61a1ab7..b395acc1456f5 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -47,12 +47,12 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( // Set parameters { - output_frame_ = static_cast(declare_parameter("output_frame", "")); + output_frame_ = declare_parameter("output_frame"); if (output_frame_.empty()) { RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!"); return; } - declare_parameter("input_topics", std::vector()); + declare_parameter>("input_topics"); input_topics_ = get_parameter("input_topics").as_string_array(); if (input_topics_.empty()) { RCLCPP_ERROR(get_logger(), "Need a 'input_topics' parameter to be set before continuing!"); @@ -64,11 +64,11 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( } // Optional parameters - maximum_queue_size_ = static_cast(declare_parameter("max_queue_size", 5)); + maximum_queue_size_ = declare_parameter("max_queue_size"); /** input pointclouds should be */ - timeout_sec_ = static_cast(declare_parameter("timeout_sec", 0.033)); + timeout_sec_ = declare_parameter("timeout_sec"); - input_offset_ = declare_parameter("input_offset", std::vector{}); + input_offset_ = declare_parameter>("input_offset"); if (!input_offset_.empty() && input_topics_.size() != input_offset_.size()) { RCLCPP_ERROR(get_logger(), "The number of topics does not match the number of offsets."); return; diff --git a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp index 620e9e42a6864..e95caa8e28572 100644 --- a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp @@ -73,13 +73,13 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio // set initial parameters { auto & p = param_; - p.min_x = static_cast(declare_parameter("min_x", -1.0)); - p.min_y = static_cast(declare_parameter("min_y", -1.0)); - p.min_z = static_cast(declare_parameter("min_z", -1.0)); - p.max_x = static_cast(declare_parameter("max_x", 1.0)); - p.max_y = static_cast(declare_parameter("max_y", 1.0)); - p.max_z = static_cast(declare_parameter("max_z", 1.0)); - p.negative = static_cast(declare_parameter("negative", false)); + p.min_x = declare_parameter("min_x"); + p.min_y = declare_parameter("min_y"); + p.min_z = declare_parameter("min_z"); + p.max_x = declare_parameter("max_x"); + p.max_y = declare_parameter("max_y"); + p.max_z = declare_parameter("max_z"); + p.negative = declare_parameter("negative"); if (tf_input_frame_.empty()) { throw std::invalid_argument("Crop box requires non-empty input_frame"); } diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index e7aa1f24409e6..6ac11f0ff9fa6 100644 --- a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -37,8 +37,8 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt } // Parameter - time_stamp_field_name_ = declare_parameter("time_stamp_field_name", "time_stamp"); - use_imu_ = declare_parameter("use_imu", true); + time_stamp_field_name_ = declare_parameter("time_stamp_field_name"); + use_imu_ = declare_parameter("use_imu"); // Publisher undistorted_points_pub_ = diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp index 6a9a5818b19ce..cf57715e36c76 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp @@ -64,9 +64,9 @@ ApproximateDownsampleFilterComponent::ApproximateDownsampleFilterComponent( : Filter("ApproximateDownsampleFilter", options) { { - voxel_size_x_ = static_cast(declare_parameter("voxel_size_x", 0.3)); - voxel_size_y_ = static_cast(declare_parameter("voxel_size_y", 0.3)); - voxel_size_z_ = static_cast(declare_parameter("voxel_size_z", 0.1)); + voxel_size_x_ = declare_parameter("voxel_size_x"); + voxel_size_y_ = declare_parameter("voxel_size_y"); + voxel_size_z_ = declare_parameter("voxel_size_z"); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp index 83c9058fd5fa5..d78af1edfbe2a 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp @@ -66,9 +66,9 @@ PickupBasedVoxelGridDownsampleFilterComponent::PickupBasedVoxelGridDownsampleFil } // Initialization of voxel sizes from parameters - voxel_size_x_ = static_cast(declare_parameter("voxel_size_x", 1.0)); - voxel_size_y_ = static_cast(declare_parameter("voxel_size_y", 1.0)); - voxel_size_z_ = static_cast(declare_parameter("voxel_size_z", 1.0)); + voxel_size_x_ = declare_parameter("voxel_size_x"); + voxel_size_y_ = declare_parameter("voxel_size_y"); + voxel_size_z_ = declare_parameter("voxel_size_z"); using std::placeholders::_1; set_param_res_ = this->add_on_set_parameters_callback( diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp index 6216b1dad97e8..95ce78204b64a 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp @@ -58,7 +58,7 @@ RandomDownsampleFilterComponent::RandomDownsampleFilterComponent( { // set initial parameters { - sample_num_ = static_cast(declare_parameter("sample_num", 1500)); + sample_num_ = declare_parameter("sample_num"); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp index f11f37397a142..ad6e49514714a 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp @@ -66,9 +66,9 @@ VoxelGridDownsampleFilterComponent::VoxelGridDownsampleFilterComponent( { // set initial parameters { - voxel_size_x_ = static_cast(declare_parameter("voxel_size_x", 0.3)); - voxel_size_y_ = static_cast(declare_parameter("voxel_size_y", 0.3)); - voxel_size_z_ = static_cast(declare_parameter("voxel_size_z", 0.1)); + voxel_size_x_ = declare_parameter("voxel_size_x"); + voxel_size_y_ = declare_parameter("voxel_size_y"); + voxel_size_z_ = declare_parameter("voxel_size_z"); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp index c9bb6dfc0fc66..6eda86a710f99 100644 --- a/sensing/pointcloud_preprocessor/src/filter.cpp +++ b/sensing/pointcloud_preprocessor/src/filter.cpp @@ -68,14 +68,14 @@ pointcloud_preprocessor::Filter::Filter( { // Set parameters (moved from NodeletLazy onInit) { - tf_input_frame_ = static_cast(declare_parameter("input_frame", "")); - tf_output_frame_ = static_cast(declare_parameter("output_frame", "")); - max_queue_size_ = static_cast(declare_parameter("max_queue_size", 5)); + tf_input_frame_ = declare_parameter("input_frame"); + tf_output_frame_ = declare_parameter("output_frame"); + max_queue_size_ = declare_parameter("max_queue_size"); // ---[ Optional parameters - use_indices_ = static_cast(declare_parameter("use_indices", false)); - latched_indices_ = static_cast(declare_parameter("latched_indices", false)); - approximate_sync_ = static_cast(declare_parameter("approximate_sync", false)); + use_indices_ = declare_parameter("use_indices"); + latched_indices_ = declare_parameter("latched_indices"); + approximate_sync_ = declare_parameter("approximate_sync"); RCLCPP_DEBUG_STREAM( this->get_logger(), diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 275c56eaefcc7..6a03206cb7afa 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -38,29 +38,29 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( { // set initial parameters { - x_max_ = static_cast(declare_parameter("x_max", 18.0)); - x_min_ = static_cast(declare_parameter("x_min", -12.0)); - y_max_ = static_cast(declare_parameter("y_max", 2.0)); - y_min_ = static_cast(declare_parameter("y_min", -2.0)); - z_max_ = static_cast(declare_parameter("z_max", 10.0)); - z_min_ = static_cast(declare_parameter("z_min", 0.0)); - min_azimuth_deg_ = static_cast(declare_parameter("min_azimuth_deg", 135.0)); - max_azimuth_deg_ = static_cast(declare_parameter("max_azimuth_deg", 225.0)); - max_distance_ = static_cast(declare_parameter("max_distance", 12.0)); - vertical_bins_ = static_cast(declare_parameter("vertical_bins", 128)); - max_azimuth_diff_ = static_cast(declare_parameter("max_azimuth_diff", 50.0)); + x_max_ = declare_parameter("x_max"); + x_min_ = declare_parameter("x_min"); + y_max_ = declare_parameter("y_max"); + y_min_ = declare_parameter("y_min"); + z_max_ = declare_parameter("z_max"); + z_min_ = declare_parameter("z_min"); + min_azimuth_deg_ = declare_parameter("min_azimuth_deg"); + max_azimuth_deg_ = declare_parameter("max_azimuth_deg"); + max_distance_ = declare_parameter("max_distance"); + vertical_bins_ = declare_parameter("vertical_bins"); + max_azimuth_diff_ = declare_parameter("max_azimuth_diff"); weak_first_distance_ratio_ = - static_cast(declare_parameter("weak_first_distance_ratio", 1.004)); + declare_parameter("weak_first_distance_ratio"); general_distance_ratio_ = - static_cast(declare_parameter("general_distance_ratio", 1.03)); + declare_parameter("general_distance_ratio"); weak_first_local_noise_threshold_ = - static_cast(declare_parameter("weak_first_local_noise_threshold", 2)); - roi_mode_ = static_cast(declare_parameter("roi_mode", "Fixed_xyz_ROI")); + declare_parameter("weak_first_local_noise_threshold"); + roi_mode_ = declare_parameter("roi_mode"); visibility_error_threshold_ = - static_cast(declare_parameter("visibility_error_threshold", 0.5)); + declare_parameter("visibility_error_threshold"); visibility_warn_threshold_ = - static_cast(declare_parameter("visibility_warn_threshold", 0.7)); + declare_parameter("visibility_warn_threshold"); } updater_.setHardwareID("dual_return_outlier_filter"); updater_.add( diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp index bbf01e0bdf223..25543a4782c4e 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp @@ -28,8 +28,8 @@ RadiusSearch2DOutlierFilterComponent::RadiusSearch2DOutlierFilterComponent( { // set initial parameters { - min_neighbors_ = static_cast(declare_parameter("min_neighbors", 5)); - search_radius_ = static_cast(declare_parameter("search_radius", 0.2)); + min_neighbors_ = declare_parameter("min_neighbors"); + search_radius_ = declare_parameter("search_radius"); } kd_tree_ = pcl::make_shared>(false); diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp index e05f44240b53a..c49b4320ad95c 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp @@ -43,22 +43,22 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions // set initial parameters { - distance_ratio_ = static_cast(declare_parameter("distance_ratio", 1.03)); + distance_ratio_ = declare_parameter("distance_ratio"); object_length_threshold_ = - static_cast(declare_parameter("object_length_threshold", 0.1)); - num_points_threshold_ = static_cast(declare_parameter("num_points_threshold", 4)); - max_rings_num_ = static_cast(declare_parameter("max_rings_num", 128)); + declare_parameter("object_length_threshold"); + num_points_threshold_ = declare_parameter("num_points_threshold"); + max_rings_num_ = declare_parameter("max_rings_num"); max_points_num_per_ring_ = - static_cast(declare_parameter("max_points_num_per_ring", 4000)); + declare_parameter("max_points_num_per_ring"); publish_outlier_pointcloud_ = - static_cast(declare_parameter("publish_outlier_pointcloud", false)); - - min_azimuth_deg_ = static_cast(declare_parameter("min_azimuth_deg", 0.0)); - max_azimuth_deg_ = static_cast(declare_parameter("max_azimuth_deg", 360.0)); - max_distance_ = static_cast(declare_parameter("max_distance", 12.0)); - vertical_bins_ = static_cast(declare_parameter("vertical_bins", 128)); - horizontal_bins_ = static_cast(declare_parameter("horizontal_bins", 36)); - noise_threshold_ = static_cast(declare_parameter("noise_threshold", 2)); + declare_parameter("publish_outlier_pointcloud"); + + min_azimuth_deg_ = declare_parameter("min_azimuth_deg"); + max_azimuth_deg_ = declare_parameter("max_azimuth_deg"); + max_distance_ = declare_parameter("max_distance"); + vertical_bins_ = declare_parameter("vertical_bins"); + horizontal_bins_ = declare_parameter("horizontal_bins"); + noise_threshold_ = declare_parameter("noise_threshold"); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp index 8745c20a7cb0b..b420d6eceb46e 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp @@ -28,10 +28,10 @@ VoxelGridOutlierFilterComponent::VoxelGridOutlierFilterComponent( { // set initial parameters { - voxel_size_x_ = static_cast(declare_parameter("voxel_size_x", 0.3)); - voxel_size_y_ = static_cast(declare_parameter("voxel_size_y", 0.3)); - voxel_size_z_ = static_cast(declare_parameter("voxel_size_z", 0.1)); - voxel_points_threshold_ = static_cast(declare_parameter("voxel_points_threshold", 2)); + voxel_size_x_ = declare_parameter("voxel_size_x"); + voxel_size_y_ = declare_parameter("voxel_size_y"); + voxel_size_z_ = declare_parameter("voxel_size_z"); + voxel_points_threshold_ = declare_parameter("voxel_points_threshold"); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp b/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp index 130e3e3de7934..0a68dfad4f230 100644 --- a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp @@ -29,15 +29,15 @@ PassThroughFilterUInt16Component::PassThroughFilterUInt16Component( { // set initial parameters { - int filter_min = static_cast(declare_parameter("filter_limit_min", 0)); - int filter_max = static_cast(declare_parameter("filter_limit_max", 127)); + int filter_min = declare_parameter("filter_limit_min"); + int filter_max = declare_parameter("filter_limit_max"); impl_.setFilterLimits(filter_min, filter_max); impl_.setFilterFieldName( - static_cast(declare_parameter("filter_field_name", "ring"))); - impl_.setKeepOrganized(static_cast(declare_parameter("keep_organized", false))); + declare_parameter("filter_field_name")); + impl_.setKeepOrganized(declare_parameter("keep_organized")); impl_.setFilterLimitsNegative( - static_cast(declare_parameter("filter_limit_negative", false))); + declare_parameter("filter_limit_negative")); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp index cfaffece4169f..a9c93fdfb9921 100644 --- a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp @@ -23,9 +23,9 @@ PointcloudAccumulatorComponent::PointcloudAccumulatorComponent(const rclcpp::Nod { // set initial parameters { - accumulation_time_sec_ = static_cast(declare_parameter("accumulation_time_sec", 2.0)); + accumulation_time_sec_ = declare_parameter("accumulation_time_sec"); pointcloud_buffer_.set_capacity( - static_cast(declare_parameter("pointcloud_buffer_size", 50))); + declare_parameter("pointcloud_buffer_size")); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp index 890dcdb974cf3..31d080da64f33 100644 --- a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp @@ -42,7 +42,7 @@ namespace pointcloud_preprocessor PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( const rclcpp::NodeOptions & node_options) : Node("point_cloud_time_synchronizer_component", node_options), - input_twist_topic_type_(declare_parameter("input_twist_topic_type", "twist")) + input_twist_topic_type_(declare_parameter("input_twist_topic_type")) { // initialize debug tool { @@ -57,14 +57,14 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( // Set parameters std::string synchronized_pointcloud_postfix; { - output_frame_ = static_cast(declare_parameter("output_frame", "")); + output_frame_ = declare_parameter("output_frame"); keep_input_frame_in_synchronized_pointcloud_ = - static_cast(declare_parameter("keep_input_frame_in_synchronized_pointcloud", false)); + declare_parameter("keep_input_frame_in_synchronized_pointcloud"); if (output_frame_.empty() && !keep_input_frame_in_synchronized_pointcloud_) { RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!"); return; } - declare_parameter("input_topics", std::vector()); + declare_parameter>("input_topics"); input_topics_ = get_parameter("input_topics").as_string_array(); if (input_topics_.empty()) { RCLCPP_ERROR(get_logger(), "Need a 'input_topics' parameter to be set before continuing!"); @@ -76,13 +76,13 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( } // output topic name postfix synchronized_pointcloud_postfix = - declare_parameter("synchronized_pointcloud_postfix", "pointcloud"); + declare_parameter("synchronized_pointcloud_postfix"); // Optional parameters - maximum_queue_size_ = static_cast(declare_parameter("max_queue_size", 5)); - timeout_sec_ = static_cast(declare_parameter("timeout_sec", 0.1)); + maximum_queue_size_ = declare_parameter("max_queue_size"); + timeout_sec_ = declare_parameter("timeout_sec"); - input_offset_ = declare_parameter("input_offset", std::vector{}); + input_offset_ = declare_parameter>("input_offset"); // If input_offset_ is not defined, set all offsets to 0 if (input_offset_.empty()) { diff --git a/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp index 8f7cb2abec6a4..a44eeea3879fc 100644 --- a/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp @@ -39,8 +39,8 @@ Lanelet2MapFilterComponent::Lanelet2MapFilterComponent(const rclcpp::NodeOptions // Set parameters { - voxel_size_x_ = declare_parameter("voxel_size_x", 0.04); - voxel_size_y_ = declare_parameter("voxel_size_y", 0.04); + voxel_size_x_ = declare_parameter("voxel_size_x"); + voxel_size_y_ = declare_parameter("voxel_size_y"); } // Set publisher diff --git a/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp b/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp index def7652848642..c5828b9bd29f6 100644 --- a/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp +++ b/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp @@ -68,7 +68,7 @@ VectorMapInsideAreaFilterComponent::VectorMapInsideAreaFilterComponent( : Filter("VectorMapInsideAreaFilter", node_options) { polygon_type_ = - static_cast(declare_parameter("polygon_type", "no_obstacle_segmentation_area")); + declare_parameter("polygon_type"); using std::placeholders::_1; // Set subscriber @@ -77,8 +77,8 @@ VectorMapInsideAreaFilterComponent::VectorMapInsideAreaFilterComponent( std::bind(&VectorMapInsideAreaFilterComponent::mapCallback, this, _1)); // Set parameters - use_z_filter_ = declare_parameter("use_z_filter", false); - z_threshold_ = declare_parameter("z_threshold", 0.0f); // defined in the base_link frame + use_z_filter_ = declare_parameter("use_z_filter"); + z_threshold_ = declare_parameter("z_threshold"); // defined in the base_link frame } void VectorMapInsideAreaFilterComponent::filter( From ddcec1a9150fa7ca369a9f2d6b21692e0d7431c9 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 10 Jun 2024 21:21:00 +0000 Subject: [PATCH 002/306] style(pre-commit): autofix Signed-off-by: Ariiees --- ...roximate_downsample_filter_param_file.yaml | 2 +- .../blockage_diagnostics_param_file.yaml | 4 - .../concatenate_and_time_sync_param_file.yaml | 2 +- .../concatenate_pointclouds_param_file.yaml | 2 +- .../config/crop_box_filter_param_file.yaml | 2 +- .../distortion_corrector_param_file.yaml | 2 +- ...dual_return_outlier_filter_param_file.yaml | 2 +- .../config/filter_param_file.yaml | 2 +- .../lanelet2_map_filter_param_file.yaml | 2 +- .../passthrough_filter_unit16_param_file.yaml | 2 +- ...xel_grid_downsample_filter_param_file.yaml | 2 +- .../pointcloud_accumulator_param_file.yaml | 2 +- ...s_search_2d_outlier_filter_param_file.yaml | 2 +- .../random_downsample_filter_param_file.yaml | 2 +- .../ring_outlier_filter_param_file.yaml | 2 +- .../config/time_synchronizer_param_file.yaml | 1 - ...tor_map_inside_area_filter_param_file.yaml | 2 +- ...xel_grid_downsample_filter_param_file.yaml | 2 +- .../launch/polygon_remover.launch.py | 2 +- .../launch/preprocessor.launch.py | 14 +- .../schema/blockage_diag.schema.json | 210 ++++++++------- .../dual_return_outlier_filter.schema.json | 246 +++++++++--------- .../schema/filter.schema.json | 118 +++++---- .../random_downsample_filter.schema.json | 64 ++--- .../ring_passthrough_filter.schema.json | 186 ++++++------- .../concatenate_and_time_sync_nodelet.cpp | 3 +- .../dual_return_outlier_filter_nodelet.cpp | 15 +- .../ring_outlier_filter_nodelet.cpp | 9 +- .../passthrough_filter_uint16_nodelet.cpp | 6 +- .../pointcloud_accumulator_nodelet.cpp | 3 +- .../vector_map_inside_area_filter.cpp | 3 +- 31 files changed, 469 insertions(+), 447 deletions(-) diff --git a/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml index 68fbb61647d21..4ff82bec2989e 100644 --- a/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml @@ -3,4 +3,4 @@ ## Paramters in approximate_downsample_filter_nodelet.cpp voxel_size_x: 0.3 voxel_size_y: 0.3 - voxel_size_z: 0.1 \ No newline at end of file + voxel_size_z: 0.1 diff --git a/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml b/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml index 589f7155132cd..13ddd8a7c7590 100644 --- a/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml @@ -14,7 +14,3 @@ max_distance_range: 200.0 horizontal_resolution: 0.4 blockage_kernel: 10 - - - - diff --git a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml index 47505eaf29580..ee2de6f4e6e30 100644 --- a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml @@ -9,4 +9,4 @@ input_offset: [] publish_synchronized_pointcloud: true keep_input_frame_in_synchronized_pointcloud: true - synchronized_pointcloud_postfix: pointcloud \ No newline at end of file + synchronized_pointcloud_postfix: pointcloud diff --git a/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml index 6365ee1aafac7..bc95eedaf85d7 100644 --- a/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml @@ -5,4 +5,4 @@ input_topics: [] max_queue_size: 5 timeout_sec: 0.033 - input_offset: [] \ No newline at end of file + input_offset: [] diff --git a/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml index 0a2bc74df9df0..24c3a677ba580 100644 --- a/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml @@ -7,4 +7,4 @@ max_x: 1.0 max_y: 1.0 max_z: 1.0 - negative: false \ No newline at end of file + negative: false diff --git a/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml b/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml index 6ac0af6304b2c..7d055c5bee45f 100644 --- a/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml @@ -2,4 +2,4 @@ ros__parameters: ## Paramters in distortion_corrector.cpp time_stamp_field_name: "time_stamp" - use_imu: true \ No newline at end of file + use_imu: true diff --git a/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml index 2527dc5f691d0..5454176d7f319 100644 --- a/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml @@ -16,4 +16,4 @@ weak_first_local_noise_threshold: 2 roi_mode: "Fixed_xyz_ROI" visibility_error_threshold: 0.5 - visibility_warn_threshold: 0.7 \ No newline at end of file + visibility_warn_threshold: 0.7 diff --git a/sensing/pointcloud_preprocessor/config/filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/filter_param_file.yaml index f4bfa91ea84aa..2d856406cb19b 100644 --- a/sensing/pointcloud_preprocessor/config/filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/filter_param_file.yaml @@ -6,4 +6,4 @@ max_queue_size: 5 use_indices: false latched_indices: false - approximate_sync: false \ No newline at end of file + approximate_sync: false diff --git a/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml index 295cd8db0df42..2aae4c5e886ea 100644 --- a/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml @@ -1,4 +1,4 @@ /**: ros__parameters: voxel_size_x: 0.04 - voxel_size_y: 0.04 \ No newline at end of file + voxel_size_y: 0.04 diff --git a/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml b/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml index 66caaa38edd95..86d0c02b2c1ae 100644 --- a/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml @@ -4,4 +4,4 @@ filter_limit_max: 127 filter_field_name: "ring" keep_organized: false - filter_limit_negative: false \ No newline at end of file + filter_limit_negative: false diff --git a/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml index 7ec5f72152905..3a996929e91ef 100644 --- a/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml @@ -2,4 +2,4 @@ ros__parameters: voxel_size_x: 1.0 voxel_size_y: 1.0 - voxel_size_z: 1.0 \ No newline at end of file + voxel_size_z: 1.0 diff --git a/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml b/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml index e38e27ecf133b..37ce94696db42 100644 --- a/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml @@ -1,4 +1,4 @@ /**: ros__parameters: accumulation_time_sec: 2.0 - pointcloud_buffer_size: 50 \ No newline at end of file + pointcloud_buffer_size: 50 diff --git a/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml index 15a00ea650a3e..8d2d32584c86d 100644 --- a/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml @@ -1,4 +1,4 @@ /**: ros__parameters: min_neighbors: 5 - search_radius: 0.2 \ No newline at end of file + search_radius: 0.2 diff --git a/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml index bb1799bf30691..53be849e0af22 100644 --- a/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml @@ -1,3 +1,3 @@ /**: ros__parameters: - sample_num: 1500 \ No newline at end of file + sample_num: 1500 diff --git a/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml index d93d616bdf77a..76bf68958f504 100644 --- a/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml @@ -11,4 +11,4 @@ max_distance: 12.0 vertical_bins: 128 horizontal_bins: 36 - noise_threshold: 2 \ No newline at end of file + noise_threshold: 2 diff --git a/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml b/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml index 5b94f626a4f48..f2e361e4b0258 100644 --- a/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml @@ -8,4 +8,3 @@ max_queue_size: 5 timeout_sec: 0.1 input_offset: [] - \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml index 40a5c96a9ca8f..0d260f8553333 100644 --- a/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml @@ -2,4 +2,4 @@ ros__parameters: polygon_type: "no_obstacle_segmentation_area" use_z_filter: false - z_threshold: 0.0f \ No newline at end of file + z_threshold: 0.0f diff --git a/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml index 6350d8541dc01..239e47f09632b 100644 --- a/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml @@ -2,4 +2,4 @@ ros__parameters: voxel_size_x: 0.3 voxel_size_y: 0.3 - voxel_size_z: 0.1 \ No newline at end of file + voxel_size_z: 0.1 diff --git a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py index 6ba7e3154ab55..fd92c77bd1c49 100644 --- a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py +++ b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): "polygon_vertices": polygon_remover_param["polygon_vertices"], "will_visualize": polygon_remover_param["will_visualize"], }, - shared_filter_file + shared_filter_file, ], ) diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py index a4cef7f75caf2..cc3cc58c45a66 100644 --- a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py +++ b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py @@ -12,6 +12,9 @@ # See the License for the specific language governing permissions and # limitations under the License. +import os + +from ament_index_python.packages import get_package_share_directory import launch from launch.actions import DeclareLaunchArgument from launch.actions import LogInfo @@ -20,9 +23,7 @@ from launch.substitutions import PythonExpression from launch_ros.actions import ComposableNodeContainer from launch_ros.descriptions import ComposableNode -import os import yaml -from ament_index_python.packages import get_package_share_directory def launch_setup(context, *args, **kwargs): @@ -40,7 +41,6 @@ def launch_setup(context, *args, **kwargs): get_package_share_directory("pointcloud_preprocessor"), "config/filter_param_file.yaml" ) - if not is_separate_concatenate_node_and_time_sync_node: sync_and_concat_component = ComposableNode( package=pkg, @@ -58,7 +58,7 @@ def launch_setup(context, *args, **kwargs): "publish_synchronized_pointcloud": False, "input_twist_topic_type": "twist", }, - shared_filter_file + shared_filter_file, ], ) concat_components = [sync_and_concat_component] @@ -77,7 +77,7 @@ def launch_setup(context, *args, **kwargs): "output_frame": LaunchConfiguration("tf_output_frame"), "approximate_sync": True, }, - shared_filter_file + shared_filter_file, ], ) @@ -92,7 +92,7 @@ def launch_setup(context, *args, **kwargs): "output_frame": LaunchConfiguration("tf_output_frame"), "approximate_sync": True, }, - shared_filter_file + shared_filter_file, ], ) concat_components = [time_sync_component, concat_component] @@ -129,7 +129,7 @@ def launch_setup(context, *args, **kwargs): "max_z": 3.0, "negative": False, }, - shared_filter_file + shared_filter_file, ], ) diff --git a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json index 789155d175104..fb931ff09b01d 100644 --- a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json +++ b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json @@ -1,103 +1,113 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "blockage_diag", - "type": "object", - "definitions": { - "blockage_diag": { - "type": "object", - "properties": { - "blockage_ratio_threshold": { - "type": "number", - "description": "blockage ration threshold", - "default": "0.1" - }, - "blockage_count_threshold": { - "type": "number", - "description": "blockage count threshold", - "default": "50" - }, - "blockage_buffering_frames": { - "type": "number", - "description": "blockage buffering frames", - "default": "2" - }, - "blockage_buffering_interval": { - "type": "number", - "description": "blockage buffering interval", - "default": "1" - }, - "enable_dust_diag": { - "type": "boolean", - "description": "enable dust diag", - "default": "false" - }, - "publish_debug_image": { - "type": "boolean", - "description": "eanble debug", - "default": "false" - }, - "dust_ratio_threshold": { - "type": "number", - "description": "dust ration threshold", - "default": "0.2" - }, - "dust_count_threshold": { - "type": "number", - "description": "dust count threshold", - "default": "10" - }, - "dust_kernel_size": { - "type": "number", - "description": "dust kernel size", - "default": "2" - }, - "dust_buffering_frames": { - "type": "number", - "description": "dust buffering frames", - "default": "10" - }, - "dust_buffering_interval": { - "type": "number", - "description": "dust buffering interval", - "default": "1" - }, - "max_distance_range": { - "type": "number", - "description": "max distance range", - "default": "200.0" - }, - "horizontal_resolution": { - "type": "number", - "description": "horizontal resolution", - "default": "INSERT_DEFAULT" - }, - "blockage_kernel": { - "type": "number", - "description": "blockage kernel", - "default": "10" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "blockage_diag", + "type": "object", + "definitions": { + "blockage_diag": { + "type": "object", + "properties": { + "blockage_ratio_threshold": { + "type": "number", + "description": "blockage ration threshold", + "default": "0.1" }, - "required": ["blockage_ratio_threshold", "blockage_count_threshold", - "blockage_buffering_frames", "blockage_buffering_interval", - "enable_dust_diag", "publish_debug_image", "dust_ratio_threshold", - "dust_count_threshold", "dust_kernel_size", "dust_buffering_frames", - "dust_buffering_interval", "max_distance_range", - "horizontal_resolution", "blockage_kernel"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/blockage_diag" - } + "blockage_count_threshold": { + "type": "number", + "description": "blockage count threshold", + "default": "50" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } \ No newline at end of file + "blockage_buffering_frames": { + "type": "number", + "description": "blockage buffering frames", + "default": "2" + }, + "blockage_buffering_interval": { + "type": "number", + "description": "blockage buffering interval", + "default": "1" + }, + "enable_dust_diag": { + "type": "boolean", + "description": "enable dust diag", + "default": "false" + }, + "publish_debug_image": { + "type": "boolean", + "description": "eanble debug", + "default": "false" + }, + "dust_ratio_threshold": { + "type": "number", + "description": "dust ration threshold", + "default": "0.2" + }, + "dust_count_threshold": { + "type": "number", + "description": "dust count threshold", + "default": "10" + }, + "dust_kernel_size": { + "type": "number", + "description": "dust kernel size", + "default": "2" + }, + "dust_buffering_frames": { + "type": "number", + "description": "dust buffering frames", + "default": "10" + }, + "dust_buffering_interval": { + "type": "number", + "description": "dust buffering interval", + "default": "1" + }, + "max_distance_range": { + "type": "number", + "description": "max distance range", + "default": "200.0" + }, + "horizontal_resolution": { + "type": "number", + "description": "horizontal resolution", + "default": "INSERT_DEFAULT" + }, + "blockage_kernel": { + "type": "number", + "description": "blockage kernel", + "default": "10" + } + }, + "required": [ + "blockage_ratio_threshold", + "blockage_count_threshold", + "blockage_buffering_frames", + "blockage_buffering_interval", + "enable_dust_diag", + "publish_debug_image", + "dust_ratio_threshold", + "dust_count_threshold", + "dust_kernel_size", + "dust_buffering_frames", + "dust_buffering_interval", + "max_distance_range", + "horizontal_resolution", + "blockage_kernel" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/blockage_diag" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json index 8e94d8662eb93..3baab9fd0123b 100644 --- a/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json @@ -1,117 +1,131 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "dual_return_outlier_filter", - "type": "object", - "definitions": { - "dual_return_outlier_filter": { - "type": "object", - "properties": { - "x_max": { - "type": "number", - "description": "max distance on x", - "default": "18.0" - }, - "x_min": { - "type": "number", - "description": "min distance on x", - "default": "-12.0" - }, - "y_max": { - "type": "number", - "description": "max distance on y", - "default": "2.0" - }, - "y_min": { - "type": "number", - "description": "min distance on y", - "default": "-2.0" - }, - "z_max": { - "type": "number", - "description": "max distance on z", - "default": "10.0" - }, - "z_min": { - "type": "number", - "description": "min distance on z", - "default": "0.0" - }, - "min_azimuth_deg": { - "type": "number", - "description": "minium azimuth degree", - "default": "135.0" - }, - "max_azimuth_deg": { - "type": "number", - "description": "maximum azimuth degree", - "default": "225.0" - }, - "max_distance": { - "type": "number", - "description": "maximum distance", - "default": "12.0" - }, - "vertical_bins": { - "type": "number", - "description": "vertical bins", - "default": "128" - }, - "max_azimuth_diff": { - "type": "number", - "description": "max azimuth diff", - "default": "50" - }, - "weak_first_distance_ratio": { - "type": "number", - "description": "weak first distance ratio", - "default": "1.004" - }, - "general_distance_ratio": { - "type": "number", - "description": "general distance ratio", - "default": "1.03" - }, - "weak_first_local_noise_threshold": { - "type": "number", - "description": "weak first local noise threshold", - "default": "2" - }, - "roi_mode": { - "type": "string", - "description": "roi mode", - "default": "Fixed_xyz_ROI" - }, - "visibility_error_threshold": { - "type": "number", - "description": "visibility error threshold", - "default": "0.5" - }, - "visibility_warn_threshold": { - "type": "number", - "description": "visibility warn threshold", - "default": "0.7" - } - }, - "required": ["x_max", "x_min", "y_max", "y_min", "z_max", - "z_min", "min_azimuth_deg", "max_azimuth_deg", "max_distance", - "vertical_bins", "max_azimuth_diff", "weak_first_distance_ratio", - "general_distance_ratio", "weak_first_local_noise_threshold", - "roi_mode", "visibility_error_threshold", "visibility_warn_threshold"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/dual_return_outlier_filter" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } \ No newline at end of file + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "dual_return_outlier_filter", + "type": "object", + "definitions": { + "dual_return_outlier_filter": { + "type": "object", + "properties": { + "x_max": { + "type": "number", + "description": "max distance on x", + "default": "18.0" + }, + "x_min": { + "type": "number", + "description": "min distance on x", + "default": "-12.0" + }, + "y_max": { + "type": "number", + "description": "max distance on y", + "default": "2.0" + }, + "y_min": { + "type": "number", + "description": "min distance on y", + "default": "-2.0" + }, + "z_max": { + "type": "number", + "description": "max distance on z", + "default": "10.0" + }, + "z_min": { + "type": "number", + "description": "min distance on z", + "default": "0.0" + }, + "min_azimuth_deg": { + "type": "number", + "description": "minium azimuth degree", + "default": "135.0" + }, + "max_azimuth_deg": { + "type": "number", + "description": "maximum azimuth degree", + "default": "225.0" + }, + "max_distance": { + "type": "number", + "description": "maximum distance", + "default": "12.0" + }, + "vertical_bins": { + "type": "number", + "description": "vertical bins", + "default": "128" + }, + "max_azimuth_diff": { + "type": "number", + "description": "max azimuth diff", + "default": "50" + }, + "weak_first_distance_ratio": { + "type": "number", + "description": "weak first distance ratio", + "default": "1.004" + }, + "general_distance_ratio": { + "type": "number", + "description": "general distance ratio", + "default": "1.03" + }, + "weak_first_local_noise_threshold": { + "type": "number", + "description": "weak first local noise threshold", + "default": "2" + }, + "roi_mode": { + "type": "string", + "description": "roi mode", + "default": "Fixed_xyz_ROI" + }, + "visibility_error_threshold": { + "type": "number", + "description": "visibility error threshold", + "default": "0.5" + }, + "visibility_warn_threshold": { + "type": "number", + "description": "visibility warn threshold", + "default": "0.7" + } + }, + "required": [ + "x_max", + "x_min", + "y_max", + "y_min", + "z_max", + "z_min", + "min_azimuth_deg", + "max_azimuth_deg", + "max_distance", + "vertical_bins", + "max_azimuth_diff", + "weak_first_distance_ratio", + "general_distance_ratio", + "weak_first_local_noise_threshold", + "roi_mode", + "visibility_error_threshold", + "visibility_warn_threshold" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/dual_return_outlier_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/filter.schema.json b/sensing/pointcloud_preprocessor/schema/filter.schema.json index 267b1735cf439..af794a0f27231 100644 --- a/sensing/pointcloud_preprocessor/schema/filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/filter.schema.json @@ -1,59 +1,65 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "filter", - "type": "object", - "definitions": { - "filter": { - "type": "object", - "properties": { - "input_frame": { - "type": "string", - "description": "input frame", - "default": "" - }, - "output_frame": { - "type": "string", - "description": "output frame", - "default": "" - }, - "max_queue_size": { - "type": "number", - "description": "max queue size of input", - "default": 5 - }, - "use_indices": { - "type": "boolean", - "description": "flag to use pointcloud", - "default": false - }, - "latched_indices": { - "type": "boolean", - "description": "flag to latch pointcloud", - "default": false - }, - "approximate_sync": { - "type": "boolean", - "description": "flag to use approximate sync", - "default": false - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "filter", + "type": "object", + "definitions": { + "filter": { + "type": "object", + "properties": { + "input_frame": { + "type": "string", + "description": "input frame", + "default": "" }, - "required": ["input_frame", "output_frame", "max_queue_size", - "use_indices", "latched_indices", "approximate_sync"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/filter" - } + "output_frame": { + "type": "string", + "description": "output frame", + "default": "" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } \ No newline at end of file + "max_queue_size": { + "type": "number", + "description": "max queue size of input", + "default": 5 + }, + "use_indices": { + "type": "boolean", + "description": "flag to use pointcloud", + "default": false + }, + "latched_indices": { + "type": "boolean", + "description": "flag to latch pointcloud", + "default": false + }, + "approximate_sync": { + "type": "boolean", + "description": "flag to use approximate sync", + "default": false + } + }, + "required": [ + "input_frame", + "output_frame", + "max_queue_size", + "use_indices", + "latched_indices", + "approximate_sync" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json index 703e77a61d436..7fe756ff35721 100644 --- a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json @@ -1,33 +1,33 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "random_downsample_filter", - "type": "object", - "definitions": { - "random_downsample_filter": { - "type": "object", - "properties": { - "sample_num": { - "type": "number", - "description": "sample numbers", - "default": "1500" - } - }, - "required": ["sample_num"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/random_downsample_filter" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } \ No newline at end of file + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "random_downsample_filter", + "type": "object", + "definitions": { + "random_downsample_filter": { + "type": "object", + "properties": { + "sample_num": { + "type": "number", + "description": "sample numbers", + "default": "1500" + } + }, + "required": ["sample_num"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/random_downsample_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json b/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json index 1d657a3be3c9e..79aead4283818 100644 --- a/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json @@ -1,91 +1,101 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "ring_outlier_filter", - "type": "object", - "definitions": { - "ring_outlier_filter": { - "type": "object", - "properties": { - "distance_ratio": { - "type": "number", - "description": "distance ratio", - "default": "1.03" - }, - "object_length_threshold": { - "type": "number", - "description": "object length threshold", - "default": "0.1" - }, - "num_points_threshold": { - "type": "number", - "description": "number points threshold", - "default": "4" - }, - "max_rings_num": { - "type": "number", - "description": "max rings number", - "default": "128" - }, - "max_points_num_per_ring": { - "type": "number", - "description": "maximum points number per ring", - "default": "4000" - }, - "publish_outlier_pointcloud": { - "type": "boolean", - "description": "enable publish outlier pointcloud", - "default": "false" - }, - "min_azimuth_deg": { - "type": "number", - "description": "minimu azimuth degree", - "default": "0.0" - }, - "max_azimuth_deg": { - "type": "number", - "description": "maximum azimuth degree", - "default": "360.0" - }, - "max_distance": { - "type": "number", - "description": "maximum distance", - "default": "12.0" - }, - "vertical_bins": { - "type": "number", - "description": "vertical bins", - "default": "128" - }, - "horizontal_bins": { - "type": "number", - "description": "horizontal bins", - "default": "36" - }, - "noise_threshold": { - "type": "number", - "description": "noise threshold", - "default": "2" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "ring_outlier_filter", + "type": "object", + "definitions": { + "ring_outlier_filter": { + "type": "object", + "properties": { + "distance_ratio": { + "type": "number", + "description": "distance ratio", + "default": "1.03" }, - "required": ["distance_ratio", "object_length_threshold", - "num_points_threshold", "max_rings_num", "max_points_num_per_ring", - "publish_outlier_pointcloud", "min_azimuth_deg", "max_azimuth_deg", - "max_distance", "vertical_bins", "horizontal_bins", "noise_threshold"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/ring_outlier_filter" - } + "object_length_threshold": { + "type": "number", + "description": "object length threshold", + "default": "0.1" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } \ No newline at end of file + "num_points_threshold": { + "type": "number", + "description": "number points threshold", + "default": "4" + }, + "max_rings_num": { + "type": "number", + "description": "max rings number", + "default": "128" + }, + "max_points_num_per_ring": { + "type": "number", + "description": "maximum points number per ring", + "default": "4000" + }, + "publish_outlier_pointcloud": { + "type": "boolean", + "description": "enable publish outlier pointcloud", + "default": "false" + }, + "min_azimuth_deg": { + "type": "number", + "description": "minimu azimuth degree", + "default": "0.0" + }, + "max_azimuth_deg": { + "type": "number", + "description": "maximum azimuth degree", + "default": "360.0" + }, + "max_distance": { + "type": "number", + "description": "maximum distance", + "default": "12.0" + }, + "vertical_bins": { + "type": "number", + "description": "vertical bins", + "default": "128" + }, + "horizontal_bins": { + "type": "number", + "description": "horizontal bins", + "default": "36" + }, + "noise_threshold": { + "type": "number", + "description": "noise threshold", + "default": "2" + } + }, + "required": [ + "distance_ratio", + "object_length_threshold", + "num_points_threshold", + "max_rings_num", + "max_points_num_per_ring", + "publish_outlier_pointcloud", + "min_azimuth_deg", + "max_azimuth_deg", + "max_distance", + "vertical_bins", + "horizontal_bins", + "noise_threshold" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/ring_outlier_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index ab431d2f5e61e..b022871a2d9ba 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -115,8 +115,7 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro publish_synchronized_pointcloud_ = declare_parameter("publish_synchronized_pointcloud"); keep_input_frame_in_synchronized_pointcloud_ = declare_parameter("keep_input_frame_in_synchronized_pointcloud"); - synchronized_pointcloud_postfix_ = - declare_parameter("synchronized_pointcloud_postfix"); + synchronized_pointcloud_postfix_ = declare_parameter("synchronized_pointcloud_postfix"); } // Initialize not_subscribed_topic_names_ diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 6a03206cb7afa..d17abafcde4ed 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -49,18 +49,13 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( max_distance_ = declare_parameter("max_distance"); vertical_bins_ = declare_parameter("vertical_bins"); max_azimuth_diff_ = declare_parameter("max_azimuth_diff"); - weak_first_distance_ratio_ = - declare_parameter("weak_first_distance_ratio"); - general_distance_ratio_ = - declare_parameter("general_distance_ratio"); + weak_first_distance_ratio_ = declare_parameter("weak_first_distance_ratio"); + general_distance_ratio_ = declare_parameter("general_distance_ratio"); - weak_first_local_noise_threshold_ = - declare_parameter("weak_first_local_noise_threshold"); + weak_first_local_noise_threshold_ = declare_parameter("weak_first_local_noise_threshold"); roi_mode_ = declare_parameter("roi_mode"); - visibility_error_threshold_ = - declare_parameter("visibility_error_threshold"); - visibility_warn_threshold_ = - declare_parameter("visibility_warn_threshold"); + visibility_error_threshold_ = declare_parameter("visibility_error_threshold"); + visibility_warn_threshold_ = declare_parameter("visibility_warn_threshold"); } updater_.setHardwareID("dual_return_outlier_filter"); updater_.add( diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp index c49b4320ad95c..4e204927d7d49 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp @@ -44,14 +44,11 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions // set initial parameters { distance_ratio_ = declare_parameter("distance_ratio"); - object_length_threshold_ = - declare_parameter("object_length_threshold"); + object_length_threshold_ = declare_parameter("object_length_threshold"); num_points_threshold_ = declare_parameter("num_points_threshold"); max_rings_num_ = declare_parameter("max_rings_num"); - max_points_num_per_ring_ = - declare_parameter("max_points_num_per_ring"); - publish_outlier_pointcloud_ = - declare_parameter("publish_outlier_pointcloud"); + max_points_num_per_ring_ = declare_parameter("max_points_num_per_ring"); + publish_outlier_pointcloud_ = declare_parameter("publish_outlier_pointcloud"); min_azimuth_deg_ = declare_parameter("min_azimuth_deg"); max_azimuth_deg_ = declare_parameter("max_azimuth_deg"); diff --git a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp b/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp index 0a68dfad4f230..cd81a17198e18 100644 --- a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp @@ -33,11 +33,9 @@ PassThroughFilterUInt16Component::PassThroughFilterUInt16Component( int filter_max = declare_parameter("filter_limit_max"); impl_.setFilterLimits(filter_min, filter_max); - impl_.setFilterFieldName( - declare_parameter("filter_field_name")); + impl_.setFilterFieldName(declare_parameter("filter_field_name")); impl_.setKeepOrganized(declare_parameter("keep_organized")); - impl_.setFilterLimitsNegative( - declare_parameter("filter_limit_negative")); + impl_.setFilterLimitsNegative(declare_parameter("filter_limit_negative")); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp index a9c93fdfb9921..730fdb3fb6ccd 100644 --- a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp @@ -24,8 +24,7 @@ PointcloudAccumulatorComponent::PointcloudAccumulatorComponent(const rclcpp::Nod // set initial parameters { accumulation_time_sec_ = declare_parameter("accumulation_time_sec"); - pointcloud_buffer_.set_capacity( - declare_parameter("pointcloud_buffer_size")); + pointcloud_buffer_.set_capacity(declare_parameter("pointcloud_buffer_size")); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp b/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp index c5828b9bd29f6..b1270e64c5bb2 100644 --- a/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp +++ b/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp @@ -67,8 +67,7 @@ VectorMapInsideAreaFilterComponent::VectorMapInsideAreaFilterComponent( const rclcpp::NodeOptions & node_options) : Filter("VectorMapInsideAreaFilter", node_options) { - polygon_type_ = - declare_parameter("polygon_type"); + polygon_type_ = declare_parameter("polygon_type"); using std::placeholders::_1; // Set subscriber From e3454f05fc30e3552d6b00fda48b8b509f05b8ee Mon Sep 17 00:00:00 2001 From: Yuxin Wang <87698138+Ariiees@users.noreply.github.com> Date: Tue, 11 Jun 2024 09:30:42 -0400 Subject: [PATCH 003/306] Update concatenate_and_time_sync_param_file.yaml solve string problem Signed-off-by: Ariiees --- .../config/concatenate_and_time_sync_param_file.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml index ee2de6f4e6e30..084fb8f38448c 100644 --- a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: ## Paramters in concatenate_and_time_sync_nodelet.cpp - input_twist_topic_type: twist + input_twist_topic_type: "twist" output_frame: "" input_topics: [] max_queue_size: 5 @@ -9,4 +9,4 @@ input_offset: [] publish_synchronized_pointcloud: true keep_input_frame_in_synchronized_pointcloud: true - synchronized_pointcloud_postfix: pointcloud + synchronized_pointcloud_postfix: "pointcloud" From ccb12c8fabf174605276ef28b4f846f6f0e75e04 Mon Sep 17 00:00:00 2001 From: Yuxin Wang <87698138+Ariiees@users.noreply.github.com> Date: Tue, 11 Jun 2024 09:33:25 -0400 Subject: [PATCH 004/306] Update preprocessor.launch.py Signed-off-by: Ariiees --- .../pointcloud_preprocessor/launch/preprocessor.launch.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py index cc3cc58c45a66..6dd9a5f9d7233 100644 --- a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py +++ b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py @@ -58,7 +58,7 @@ def launch_setup(context, *args, **kwargs): "publish_synchronized_pointcloud": False, "input_twist_topic_type": "twist", }, - shared_filter_file, + shared_filter_file ], ) concat_components = [sync_and_concat_component] @@ -77,7 +77,7 @@ def launch_setup(context, *args, **kwargs): "output_frame": LaunchConfiguration("tf_output_frame"), "approximate_sync": True, }, - shared_filter_file, + shared_filter_file ], ) @@ -92,7 +92,7 @@ def launch_setup(context, *args, **kwargs): "output_frame": LaunchConfiguration("tf_output_frame"), "approximate_sync": True, }, - shared_filter_file, + shared_filter_file ], ) concat_components = [time_sync_component, concat_component] @@ -129,7 +129,7 @@ def launch_setup(context, *args, **kwargs): "max_z": 3.0, "negative": False, }, - shared_filter_file, + shared_filter_file ], ) From 367c969a2f060ade4fbe835da18070e7fcee23dd Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 11 Jun 2024 13:35:40 +0000 Subject: [PATCH 005/306] style(pre-commit): autofix Signed-off-by: Ariiees --- .../pointcloud_preprocessor/launch/preprocessor.launch.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py index 6dd9a5f9d7233..cc3cc58c45a66 100644 --- a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py +++ b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py @@ -58,7 +58,7 @@ def launch_setup(context, *args, **kwargs): "publish_synchronized_pointcloud": False, "input_twist_topic_type": "twist", }, - shared_filter_file + shared_filter_file, ], ) concat_components = [sync_and_concat_component] @@ -77,7 +77,7 @@ def launch_setup(context, *args, **kwargs): "output_frame": LaunchConfiguration("tf_output_frame"), "approximate_sync": True, }, - shared_filter_file + shared_filter_file, ], ) @@ -92,7 +92,7 @@ def launch_setup(context, *args, **kwargs): "output_frame": LaunchConfiguration("tf_output_frame"), "approximate_sync": True, }, - shared_filter_file + shared_filter_file, ], ) concat_components = [time_sync_component, concat_component] @@ -129,7 +129,7 @@ def launch_setup(context, *args, **kwargs): "max_z": 3.0, "negative": False, }, - shared_filter_file + shared_filter_file, ], ) From b5f44b1514c2f2b3e3b2d95f8d34fb06c441aca7 Mon Sep 17 00:00:00 2001 From: Ariiees Date: Fri, 14 Jun 2024 22:36:14 -0400 Subject: [PATCH 006/306] update two .launch.py file to sovle the launch error (add paramter dict update) Signed-off-by: Ariiees --- .../concatenate_and_time_sync_param_file.yaml | 4 +- .../concatenate_pointclouds_param_file.yaml | 4 +- .../config/time_synchronizer_param_file.yaml | 4 +- .../launch/polygon_remover.launch.py | 25 +++--- .../launch/preprocessor.launch.py | 87 +++++++++++-------- 5 files changed, 70 insertions(+), 54 deletions(-) diff --git a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml index 084fb8f38448c..f347021aa0f65 100644 --- a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml @@ -3,10 +3,10 @@ ## Paramters in concatenate_and_time_sync_nodelet.cpp input_twist_topic_type: "twist" output_frame: "" - input_topics: [] + input_topics: [""] max_queue_size: 5 timeout_sec: 0.1 - input_offset: [] + input_offset: {} publish_synchronized_pointcloud: true keep_input_frame_in_synchronized_pointcloud: true synchronized_pointcloud_postfix: "pointcloud" diff --git a/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml index bc95eedaf85d7..944fae4f9a734 100644 --- a/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml @@ -2,7 +2,7 @@ ros__parameters: ## Paramters in concatenate_pointclouds.cpp output_frame: "" - input_topics: [] + input_topics: [""] max_queue_size: 5 timeout_sec: 0.033 - input_offset: [] + input_offset: {} diff --git a/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml b/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml index f2e361e4b0258..4b3f296738020 100644 --- a/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml @@ -3,8 +3,8 @@ input_twist_topic_type: "twist" output_frame: "" keep_input_frame_in_synchronized_pointcloud: false - input_topics: [] + input_topics: [""] synchronized_pointcloud_postfix: "pointcloud" max_queue_size: 5 timeout_sec: 0.1 - input_offset: [] + input_offset: {} diff --git a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py index fd92c77bd1c49..534976510f87d 100644 --- a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py +++ b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py @@ -20,32 +20,31 @@ from launch_ros.descriptions import ComposableNode import yaml +def load_parameter_dic(share_direc_path, yaml_path): + param_file = os.path.join( + get_package_share_directory(share_direc_path), yaml_path) + + with open(param_file, "r") as f: + param_dic = yaml.safe_load(f)["/**"]["ros__parameters"] + + return param_dic def generate_launch_description(): ns = "pointcloud_preprocessor" pkg = "pointcloud_preprocessor" - param_file = os.path.join( - get_package_share_directory("autoware_vehicle_info_utils"), "config/polygon_remover.yaml" - ) + polygon_remover_param = load_parameter_dic("autoware_vehicle_info_utils", "config/polygon_remover.yaml") - shared_filter_file = os.path.join( - get_package_share_directory("pointcloude_preprocessor"), "config/filter_param_file.yaml" - ) + param = load_parameter_dic("pointcloud_preprocessor", "config/filter_param_file.yaml") - with open(param_file, "r") as f: - polygon_remover_param = yaml.safe_load(f)["/**"]["ros__parameters"] + param.update(polygon_remover_param) my_component = ComposableNode( package=pkg, plugin="pointcloud_preprocessor::PolygonRemoverComponent", name="polygon_remover", parameters=[ - { - "polygon_vertices": polygon_remover_param["polygon_vertices"], - "will_visualize": polygon_remover_param["will_visualize"], - }, - shared_filter_file, + param ], ) diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py index cc3cc58c45a66..1f5b498d77546 100644 --- a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py +++ b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py @@ -25,6 +25,14 @@ from launch_ros.descriptions import ComposableNode import yaml +def load_parameter_dic(share_direc_path, yaml_path): + param_file = os.path.join( + get_package_share_directory(share_direc_path), yaml_path) + + with open(param_file, "r") as f: + param_dic = yaml.safe_load(f)["/**"]["ros__parameters"] + + return param_dic def launch_setup(context, *args, **kwargs): ns = "pointcloud_preprocessor" @@ -37,9 +45,46 @@ def launch_setup(context, *args, **kwargs): separate_concatenate_node_and_time_sync_node.lower() == "true" ) - shared_filter_file = os.path.join( - get_package_share_directory("pointcloud_preprocessor"), "config/filter_param_file.yaml" - ) + ## ---------------------- Set up Example parameters --------------------------- + ## you could modify thie part and change the parameter directly in .yaml file. + filter_param = load_parameter_dic("pointcloud_preprocessor", "config/filter_param_file.yaml") + + sync_and_concat_param = load_parameter_dic("pointcloud_preprocessor", "config/concatenate_and_time_sync_param_file.yaml") + + time_sync_param = load_parameter_dic("pointcloud_preprocessor", "config/time_synchronizer_param_file.yaml") + + concat_param = load_parameter_dic("pointcloud_preprocessor", "config/concatenate_pointclouds_param_file.yaml") + + crop_box_param = load_parameter_dic("pointcloud_preprocessor", "config/crop_box_filter_param_file.yaml") + + sync_and_concat_updated_param = {"input_topics": LaunchConfiguration("input_points_raw_list"), + "output_frame": LaunchConfiguration("tf_output_frame"), + "approximate_sync": True, + "publish_synchronized_pointcloud": False} + updated_param = {"input_topics": LaunchConfiguration("input_points_raw_list"), + "output_frame": LaunchConfiguration("tf_output_frame"), + "approximate_sync": True} + crop_box_updated_param = {"input_frame": LaunchConfiguration("tf_output_frame"), + "output_frame": LaunchConfiguration("tf_output_frame"), + "min_x": -200.0, + "max_x": 1000.0, + "min_y": -50.0, + "max_y": 50.0, + "min_z": -2.0, + "max_z": 3.0, + "negative": False} + + sync_and_concat_updated = {**filter_param, **sync_and_concat_param} + sync_and_concat_updated.update(sync_and_concat_updated_param) + + time_sync_param.update(updated_param) + + concat_param_updated = {**filter_param, **concat_param} + concat_param_updated.update(updated_param) + + crop_box_updated = {**filter_param, **crop_box_param} + crop_box_updated.update(crop_box_updated_param) + ## ---------------------- -------------------------- --------------------------- if not is_separate_concatenate_node_and_time_sync_node: sync_and_concat_component = ComposableNode( @@ -51,14 +96,7 @@ def launch_setup(context, *args, **kwargs): ("output", "points_raw/concatenated"), ], parameters=[ - { - "input_topics": LaunchConfiguration("input_points_raw_list"), - "output_frame": LaunchConfiguration("tf_output_frame"), - "approximate_sync": True, - "publish_synchronized_pointcloud": False, - "input_twist_topic_type": "twist", - }, - shared_filter_file, + sync_and_concat_updated ], ) concat_components = [sync_and_concat_component] @@ -72,12 +110,7 @@ def launch_setup(context, *args, **kwargs): ("output", "points_raw/concatenated"), ], parameters=[ - { - "input_topics": LaunchConfiguration("input_points_raw_list"), - "output_frame": LaunchConfiguration("tf_output_frame"), - "approximate_sync": True, - }, - shared_filter_file, + time_sync_param ], ) @@ -87,12 +120,7 @@ def launch_setup(context, *args, **kwargs): name="concatenate_filter", remappings=[("output", "points_raw/concatenated")], parameters=[ - { - "input_topics": LaunchConfiguration("input_points_raw_list"), - "output_frame": LaunchConfiguration("tf_output_frame"), - "approximate_sync": True, - }, - shared_filter_file, + concat_param_updated ], ) concat_components = [time_sync_component, concat_component] @@ -118,18 +146,7 @@ def launch_setup(context, *args, **kwargs): ("output", LaunchConfiguration("output_points_raw")), ], parameters=[ - { - "input_frame": LaunchConfiguration("tf_output_frame"), - "output_frame": LaunchConfiguration("tf_output_frame"), - "min_x": -200.0, - "max_x": 1000.0, - "min_y": -50.0, - "max_y": 50.0, - "min_z": -2.0, - "max_z": 3.0, - "negative": False, - }, - shared_filter_file, + crop_box_updated ], ) From c7fdcd322ffd9af46eb0a666ed04bd8582d826e3 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Sat, 15 Jun 2024 02:38:43 +0000 Subject: [PATCH 007/306] style(pre-commit): autofix Signed-off-by: Ariiees --- .../launch/polygon_remover.launch.py | 13 ++-- .../launch/preprocessor.launch.py | 77 ++++++++++--------- 2 files changed, 49 insertions(+), 41 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py index 534976510f87d..e286ed74ba1ed 100644 --- a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py +++ b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py @@ -20,20 +20,23 @@ from launch_ros.descriptions import ComposableNode import yaml + def load_parameter_dic(share_direc_path, yaml_path): - param_file = os.path.join( - get_package_share_directory(share_direc_path), yaml_path) + param_file = os.path.join(get_package_share_directory(share_direc_path), yaml_path) with open(param_file, "r") as f: param_dic = yaml.safe_load(f)["/**"]["ros__parameters"] return param_dic + def generate_launch_description(): ns = "pointcloud_preprocessor" pkg = "pointcloud_preprocessor" - polygon_remover_param = load_parameter_dic("autoware_vehicle_info_utils", "config/polygon_remover.yaml") + polygon_remover_param = load_parameter_dic( + "autoware_vehicle_info_utils", "config/polygon_remover.yaml" + ) param = load_parameter_dic("pointcloud_preprocessor", "config/filter_param_file.yaml") @@ -43,9 +46,7 @@ def generate_launch_description(): package=pkg, plugin="pointcloud_preprocessor::PolygonRemoverComponent", name="polygon_remover", - parameters=[ - param - ], + parameters=[param], ) # set container to run all required components in the same process diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py index 1f5b498d77546..75c1108174fb3 100644 --- a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py +++ b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py @@ -25,15 +25,16 @@ from launch_ros.descriptions import ComposableNode import yaml + def load_parameter_dic(share_direc_path, yaml_path): - param_file = os.path.join( - get_package_share_directory(share_direc_path), yaml_path) + param_file = os.path.join(get_package_share_directory(share_direc_path), yaml_path) with open(param_file, "r") as f: param_dic = yaml.safe_load(f)["/**"]["ros__parameters"] return param_dic + def launch_setup(context, *args, **kwargs): ns = "pointcloud_preprocessor" pkg = "pointcloud_preprocessor" @@ -49,30 +50,44 @@ def launch_setup(context, *args, **kwargs): ## you could modify thie part and change the parameter directly in .yaml file. filter_param = load_parameter_dic("pointcloud_preprocessor", "config/filter_param_file.yaml") - sync_and_concat_param = load_parameter_dic("pointcloud_preprocessor", "config/concatenate_and_time_sync_param_file.yaml") + sync_and_concat_param = load_parameter_dic( + "pointcloud_preprocessor", "config/concatenate_and_time_sync_param_file.yaml" + ) - time_sync_param = load_parameter_dic("pointcloud_preprocessor", "config/time_synchronizer_param_file.yaml") + time_sync_param = load_parameter_dic( + "pointcloud_preprocessor", "config/time_synchronizer_param_file.yaml" + ) - concat_param = load_parameter_dic("pointcloud_preprocessor", "config/concatenate_pointclouds_param_file.yaml") + concat_param = load_parameter_dic( + "pointcloud_preprocessor", "config/concatenate_pointclouds_param_file.yaml" + ) - crop_box_param = load_parameter_dic("pointcloud_preprocessor", "config/crop_box_filter_param_file.yaml") + crop_box_param = load_parameter_dic( + "pointcloud_preprocessor", "config/crop_box_filter_param_file.yaml" + ) - sync_and_concat_updated_param = {"input_topics": LaunchConfiguration("input_points_raw_list"), - "output_frame": LaunchConfiguration("tf_output_frame"), - "approximate_sync": True, - "publish_synchronized_pointcloud": False} - updated_param = {"input_topics": LaunchConfiguration("input_points_raw_list"), - "output_frame": LaunchConfiguration("tf_output_frame"), - "approximate_sync": True} - crop_box_updated_param = {"input_frame": LaunchConfiguration("tf_output_frame"), - "output_frame": LaunchConfiguration("tf_output_frame"), - "min_x": -200.0, - "max_x": 1000.0, - "min_y": -50.0, - "max_y": 50.0, - "min_z": -2.0, - "max_z": 3.0, - "negative": False} + sync_and_concat_updated_param = { + "input_topics": LaunchConfiguration("input_points_raw_list"), + "output_frame": LaunchConfiguration("tf_output_frame"), + "approximate_sync": True, + "publish_synchronized_pointcloud": False, + } + updated_param = { + "input_topics": LaunchConfiguration("input_points_raw_list"), + "output_frame": LaunchConfiguration("tf_output_frame"), + "approximate_sync": True, + } + crop_box_updated_param = { + "input_frame": LaunchConfiguration("tf_output_frame"), + "output_frame": LaunchConfiguration("tf_output_frame"), + "min_x": -200.0, + "max_x": 1000.0, + "min_y": -50.0, + "max_y": 50.0, + "min_z": -2.0, + "max_z": 3.0, + "negative": False, + } sync_and_concat_updated = {**filter_param, **sync_and_concat_param} sync_and_concat_updated.update(sync_and_concat_updated_param) @@ -81,7 +96,7 @@ def launch_setup(context, *args, **kwargs): concat_param_updated = {**filter_param, **concat_param} concat_param_updated.update(updated_param) - + crop_box_updated = {**filter_param, **crop_box_param} crop_box_updated.update(crop_box_updated_param) ## ---------------------- -------------------------- --------------------------- @@ -95,9 +110,7 @@ def launch_setup(context, *args, **kwargs): ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), ("output", "points_raw/concatenated"), ], - parameters=[ - sync_and_concat_updated - ], + parameters=[sync_and_concat_updated], ) concat_components = [sync_and_concat_component] else: @@ -109,9 +122,7 @@ def launch_setup(context, *args, **kwargs): ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), ("output", "points_raw/concatenated"), ], - parameters=[ - time_sync_param - ], + parameters=[time_sync_param], ) concat_component = ComposableNode( @@ -119,9 +130,7 @@ def launch_setup(context, *args, **kwargs): plugin="pointcloud_preprocessor::PointCloudConcatenationComponent", name="concatenate_filter", remappings=[("output", "points_raw/concatenated")], - parameters=[ - concat_param_updated - ], + parameters=[concat_param_updated], ) concat_components = [time_sync_component, concat_component] @@ -145,9 +154,7 @@ def launch_setup(context, *args, **kwargs): ), ("output", LaunchConfiguration("output_points_raw")), ], - parameters=[ - crop_box_updated - ], + parameters=[crop_box_updated], ) # set container to run all required components in the same process From 03132f6b56a0fb2c3fabff37df1ee4e514e831ca Mon Sep 17 00:00:00 2001 From: Ariiees Date: Mon, 17 Jun 2024 10:31:01 -0400 Subject: [PATCH 008/306] change all size_t to uint16_t Signed-off-by: Ariiees --- .../launch/distortion_corrector.launch.xml | 20 ++++++++++++++ .../schema/blockage_diag.schema.json | 26 +++++++++---------- .../schema/filter.schema.json | 12 ++++----- .../random_downsample_filter_nodelet.cpp | 2 +- .../pointcloud_preprocessor/src/filter.cpp | 2 +- ...adius_search_2d_outlier_filter_nodelet.cpp | 2 +- .../ring_outlier_filter_nodelet.cpp | 2 +- .../pointcloud_accumulator_nodelet.cpp | 2 +- 8 files changed, 44 insertions(+), 24 deletions(-) create mode 100644 sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml b/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml new file mode 100644 index 0000000000000..90902ccf7a5d3 --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json index fb931ff09b01d..8d8efdb2ca09c 100644 --- a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json +++ b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json @@ -8,22 +8,22 @@ "properties": { "blockage_ratio_threshold": { "type": "number", - "description": "blockage ration threshold", + "description": "The threshold of blockage area ratio.If the blockage value exceeds this threshold, the diagnostic state will be set to ERROR.", "default": "0.1" }, "blockage_count_threshold": { "type": "number", - "description": "blockage count threshold", + "description": "The threshold of number continuous blockage frames", "default": "50" }, "blockage_buffering_frames": { "type": "number", - "description": "blockage buffering frames", + "description": "The number of buffering about blockage detection [range:1-200]", "default": "2" }, "blockage_buffering_interval": { "type": "number", - "description": "blockage buffering interval", + "description": "The interval of buffering about blockage detection", "default": "1" }, "enable_dust_diag": { @@ -38,42 +38,42 @@ }, "dust_ratio_threshold": { "type": "number", - "description": "dust ration threshold", + "description": "The threshold of dusty area ratio", "default": "0.2" }, "dust_count_threshold": { "type": "number", - "description": "dust count threshold", + "description": "The threshold of number continuous frames include dusty area", "default": "10" }, "dust_kernel_size": { "type": "number", - "description": "dust kernel size", + "description": "The kernel size of morphology processing in dusty area detection", "default": "2" }, "dust_buffering_frames": { "type": "number", - "description": "dust buffering frames", + "description": "The number of buffering about dusty area detection [range:1-200]", "default": "10" }, "dust_buffering_interval": { "type": "number", - "description": "dust buffering interval", + "description": "The interval of buffering about dusty area detection", "default": "1" }, "max_distance_range": { "type": "number", - "description": "max distance range", + "description": "Maximum view range for the LiDAR", "default": "200.0" }, "horizontal_resolution": { "type": "number", - "description": "horizontal resolution", - "default": "INSERT_DEFAULT" + "description": "The horizontal resolution of depth map image [deg/pixel]", + "default": "0.4" }, "blockage_kernel": { "type": "number", - "description": "blockage kernel", + "description": "The kernel size of morphology processing the detected blockage area", "default": "10" } }, diff --git a/sensing/pointcloud_preprocessor/schema/filter.schema.json b/sensing/pointcloud_preprocessor/schema/filter.schema.json index af794a0f27231..13104a85b8f65 100644 --- a/sensing/pointcloud_preprocessor/schema/filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/filter.schema.json @@ -8,32 +8,32 @@ "properties": { "input_frame": { "type": "string", - "description": "input frame", + "description": "input frame id", "default": "" }, "output_frame": { "type": "string", - "description": "output frame", + "description": "output frame id", "default": "" }, "max_queue_size": { "type": "number", - "description": "max queue size of input", + "description": "max queue size of input/output topics", "default": 5 }, "use_indices": { "type": "boolean", - "description": "flag to use pointcloud", + "description": "flag to use pointcloud indices", "default": false }, "latched_indices": { "type": "boolean", - "description": "flag to latch pointcloud", + "description": "flag to latch pointcloud indices", "default": false }, "approximate_sync": { "type": "boolean", - "description": "flag to use approximate sync", + "description": "lag to use approximate sync option", "default": false } }, diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp index 95ce78204b64a..ffb4fa1f7da91 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp @@ -58,7 +58,7 @@ RandomDownsampleFilterComponent::RandomDownsampleFilterComponent( { // set initial parameters { - sample_num_ = declare_parameter("sample_num"); + sample_num_ = declare_parameter("sample_num"); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp index 6eda86a710f99..b535da896ce77 100644 --- a/sensing/pointcloud_preprocessor/src/filter.cpp +++ b/sensing/pointcloud_preprocessor/src/filter.cpp @@ -70,7 +70,7 @@ pointcloud_preprocessor::Filter::Filter( { tf_input_frame_ = declare_parameter("input_frame"); tf_output_frame_ = declare_parameter("output_frame"); - max_queue_size_ = declare_parameter("max_queue_size"); + max_queue_size_ = declare_parameter("max_queue_size"); // ---[ Optional parameters use_indices_ = declare_parameter("use_indices"); diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp index 25543a4782c4e..aa12e227165ab 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp @@ -28,7 +28,7 @@ RadiusSearch2DOutlierFilterComponent::RadiusSearch2DOutlierFilterComponent( { // set initial parameters { - min_neighbors_ = declare_parameter("min_neighbors"); + min_neighbors_ = declare_parameter("min_neighbors"); search_radius_ = declare_parameter("search_radius"); } diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp index 4e204927d7d49..8e38d203269a4 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp @@ -47,7 +47,7 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions object_length_threshold_ = declare_parameter("object_length_threshold"); num_points_threshold_ = declare_parameter("num_points_threshold"); max_rings_num_ = declare_parameter("max_rings_num"); - max_points_num_per_ring_ = declare_parameter("max_points_num_per_ring"); + max_points_num_per_ring_ = declare_parameter("max_points_num_per_ring"); publish_outlier_pointcloud_ = declare_parameter("publish_outlier_pointcloud"); min_azimuth_deg_ = declare_parameter("min_azimuth_deg"); diff --git a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp index 730fdb3fb6ccd..a28415dae2a56 100644 --- a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp @@ -24,7 +24,7 @@ PointcloudAccumulatorComponent::PointcloudAccumulatorComponent(const rclcpp::Nod // set initial parameters { accumulation_time_sec_ = declare_parameter("accumulation_time_sec"); - pointcloud_buffer_.set_capacity(declare_parameter("pointcloud_buffer_size")); + pointcloud_buffer_.set_capacity(declare_parameter("pointcloud_buffer_size")); } using std::placeholders::_1; From ad384fc1a2be3df399bffb4d834b61984b69381a Mon Sep 17 00:00:00 2001 From: Ariiees Date: Mon, 17 Jun 2024 20:22:04 -0400 Subject: [PATCH 009/306] add other launch file Signed-off-by: Ariiees --- ...tor_map_inside_area_filter_param_file.yaml | 2 +- .../approximate_downsample_filter.launch.xml | 16 +++++++++++++++ .../launch/distortion_corrector.launch.xml | 20 +++---------------- .../dual_return_outlier_filter.launch.xml | 1 - .../launch/lanelet2_map_filter.launch.xml | 6 ++++++ ...ed_voxel_grid_downsample_filter.launch.xml | 16 +++++++++++++++ .../launch/pointcloud_accumulator.launch.xml | 16 +++++++++++++++ ...radius_search_2d_outlier_filter.launch.xml | 16 +++++++++++++++ .../launch/ring_outlier_filter.launch.xml | 16 +++++++++++++++ .../vector_map_inside_area_filter.launch.xml | 12 +++++++++++ .../voxel_grid_downsample_filter.launch.xml | 16 +++++++++++++++ .../voxel_grid_outlier_filter.launch.xml | 16 +++++++++++++++ 12 files changed, 134 insertions(+), 19 deletions(-) create mode 100644 sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml create mode 100644 sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml create mode 100644 sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml create mode 100644 sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml create mode 100644 sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml create mode 100644 sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml create mode 100644 sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml create mode 100644 sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml create mode 100644 sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml diff --git a/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml index 0d260f8553333..e7df8c9641a8b 100644 --- a/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml @@ -2,4 +2,4 @@ ros__parameters: polygon_type: "no_obstacle_segmentation_area" use_z_filter: false - z_threshold: 0.0f + z_threshold: 0.0 diff --git a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml new file mode 100644 index 0000000000000..92995f33c47d4 --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml b/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml index 90902ccf7a5d3..ae0f3141c2097 100644 --- a/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml @@ -1,20 +1,6 @@ - - - - - - - - - - - - - - - - - + + + diff --git a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml index 9f04075f79bfd..0961dd4aca014 100644 --- a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml @@ -7,7 +7,6 @@ - diff --git a/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml new file mode 100644 index 0000000000000..6573544c4a987 --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml new file mode 100644 index 0000000000000..f77d42bf17196 --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml new file mode 100644 index 0000000000000..a4c9bb311a063 --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml new file mode 100644 index 0000000000000..469b4d22a724e --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml new file mode 100644 index 0000000000000..312df90a65b92 --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml new file mode 100644 index 0000000000000..c1350801c55dc --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml new file mode 100644 index 0000000000000..72ed333f4dd47 --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml new file mode 100644 index 0000000000000..29b220f99e798 --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + From 402e515c06fc79b5d565265b30132a2fc717cc07 Mon Sep 17 00:00:00 2001 From: Ariiees Date: Thu, 20 Jun 2024 11:47:18 -0400 Subject: [PATCH 010/306] Add other schema file Signed-off-by: Ariiees --- .../approximate_downsample_filter.schema.json | 44 +++++++++++++++++++ .../schema/distortion_corrector.schema.json | 39 ++++++++++++++++ .../schema/lanelet2_map_filter.schema.json | 39 ++++++++++++++++ ...d_voxel_grid_downsample_filter.schema.json | 0 4 files changed, 122 insertions(+) create mode 100644 sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json new file mode 100644 index 0000000000000..3e7807afdef81 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json @@ -0,0 +1,44 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "approximate_downsample_filter", + "type": "object", + "definitions": { + "approximate_downsample_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "voxel size x [m]", + "default": "0.3" + }, + "voxel_size_y": { + "type": "number", + "description": "voxel size y [m]", + "default": "0.3" + }, + "voxel_size_z": { + "type": "number", + "description": "voxel size z [m]", + "default": "0.1" + } + }, + "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/approximate_downsample_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json b/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json new file mode 100644 index 0000000000000..8aaa1c1e54eb6 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json @@ -0,0 +1,39 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "distortion_corrector", + "type": "object", + "definitions": { + "distortion_corrector": { + "type": "object", + "properties": { + "time_stamp_field_name": { + "type": "string", + "description": "time stamp field name", + "default": "time_stamp" + }, + "use_imu": { + "type": "boolean", + "description": "use gyroscope for yaw rate if true, else use vehicle status", + "default": "true" + } + }, + "required": ["time_stamp_field_name", "use_imu"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/distortion_corrector" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json b/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json new file mode 100644 index 0000000000000..788949efee01d --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json @@ -0,0 +1,39 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "lanelet2_map_filter", + "type": "object", + "definitions": { + "lanelet2_map_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "voxel size", + "default": "0.04" + }, + "voxel_size_y": { + "type": "number", + "description": "voxel size", + "default": "0.04" + } + }, + "required": ["voxel_size_x", "voxel_size_y"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/lanelet2_map_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json new file mode 100644 index 0000000000000..e69de29bb2d1d From fed5dc60b8a8ab4f3b36efe651c94242d5fdfb62 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 20 Jun 2024 15:53:03 +0000 Subject: [PATCH 011/306] style(pre-commit): autofix Signed-off-by: Ariiees --- .../approximate_downsample_filter.launch.xml | 4 +- .../launch/pointcloud_accumulator.launch.xml | 4 +- .../approximate_downsample_filter.schema.json | 81 +++++++++---------- .../schema/distortion_corrector.schema.json | 73 +++++++++-------- .../schema/lanelet2_map_filter.schema.json | 73 +++++++++-------- 5 files changed, 116 insertions(+), 119 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml index 92995f33c47d4..627ebbcd842b0 100644 --- a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml @@ -1,4 +1,4 @@ - + @@ -13,4 +13,4 @@ - \ No newline at end of file + diff --git a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml index a4c9bb311a063..231334b29f169 100644 --- a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml @@ -1,4 +1,4 @@ - + @@ -13,4 +13,4 @@ - \ No newline at end of file + diff --git a/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json index 3e7807afdef81..40cff46455aa1 100644 --- a/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json @@ -1,44 +1,43 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "approximate_downsample_filter", - "type": "object", - "definitions": { - "approximate_downsample_filter": { - "type": "object", - "properties": { - "voxel_size_x": { - "type": "number", - "description": "voxel size x [m]", - "default": "0.3" - }, - "voxel_size_y": { - "type": "number", - "description": "voxel size y [m]", - "default": "0.3" - }, - "voxel_size_z": { - "type": "number", - "description": "voxel size z [m]", - "default": "0.1" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "approximate_downsample_filter", + "type": "object", + "definitions": { + "approximate_downsample_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "voxel size x [m]", + "default": "0.3" }, - "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/approximate_downsample_filter" - } + "voxel_size_y": { + "type": "number", + "description": "voxel size y [m]", + "default": "0.3" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } - \ No newline at end of file + "voxel_size_z": { + "type": "number", + "description": "voxel size z [m]", + "default": "0.1" + } + }, + "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/approximate_downsample_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json b/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json index 8aaa1c1e54eb6..9529e58a107ac 100644 --- a/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json +++ b/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json @@ -1,39 +1,38 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "distortion_corrector", - "type": "object", - "definitions": { - "distortion_corrector": { - "type": "object", - "properties": { - "time_stamp_field_name": { - "type": "string", - "description": "time stamp field name", - "default": "time_stamp" - }, - "use_imu": { - "type": "boolean", - "description": "use gyroscope for yaw rate if true, else use vehicle status", - "default": "true" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "distortion_corrector", + "type": "object", + "definitions": { + "distortion_corrector": { + "type": "object", + "properties": { + "time_stamp_field_name": { + "type": "string", + "description": "time stamp field name", + "default": "time_stamp" }, - "required": ["time_stamp_field_name", "use_imu"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/distortion_corrector" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } - \ No newline at end of file + "use_imu": { + "type": "boolean", + "description": "use gyroscope for yaw rate if true, else use vehicle status", + "default": "true" + } + }, + "required": ["time_stamp_field_name", "use_imu"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/distortion_corrector" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json b/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json index 788949efee01d..0236c7ad89baf 100644 --- a/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json @@ -1,39 +1,38 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "lanelet2_map_filter", - "type": "object", - "definitions": { - "lanelet2_map_filter": { - "type": "object", - "properties": { - "voxel_size_x": { - "type": "number", - "description": "voxel size", - "default": "0.04" - }, - "voxel_size_y": { - "type": "number", - "description": "voxel size", - "default": "0.04" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "lanelet2_map_filter", + "type": "object", + "definitions": { + "lanelet2_map_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "voxel size", + "default": "0.04" }, - "required": ["voxel_size_x", "voxel_size_y"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/lanelet2_map_filter" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } - \ No newline at end of file + "voxel_size_y": { + "type": "number", + "description": "voxel size", + "default": "0.04" + } + }, + "required": ["voxel_size_x", "voxel_size_y"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/lanelet2_map_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} From 772e937d2519303992fa096f17abfe5c62792edb Mon Sep 17 00:00:00 2001 From: Ariiees Date: Mon, 24 Jun 2024 11:17:13 -0400 Subject: [PATCH 012/306] add schema Signed-off-by: Ariiees --- .../config/crop_box_filter_param_file.yaml | 2 +- .../schema/crop_box_filter.schema.json | 58 ++++++++++++ .../schema/passthrough_filter.schema.json | 54 +++++++++++ .../schema/ring_outlier_filter.schema.json | 92 +++++++++++++++++++ .../vector_map_insdie_area_filter.schema.json | 44 +++++++++ .../voxel_grid_downsample_filter.schema.json | 44 +++++++++ .../voxel_grid_outlier_filter.schema.json | 49 ++++++++++ 7 files changed, 342 insertions(+), 1 deletion(-) create mode 100644 sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml index 24c3a677ba580..a4bdbdfadef3c 100644 --- a/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml +++ b/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml @@ -7,4 +7,4 @@ max_x: 1.0 max_y: 1.0 max_z: 1.0 - negative: false + # negative: false diff --git a/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json b/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json new file mode 100644 index 0000000000000..44d8a40baecbf --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json @@ -0,0 +1,58 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "INSERT_TITLE", + "type": "object", + "definitions": { + "crop_box_filter": { + "type": "object", + "properties": { + "min_x": { + "type": "number", + "description": "x-coordinate minimum value for crop range", + "default": "-1.0" + }, + "min_y": { + "type": "number", + "description": "y-coordinate minimum value for crop range", + "default": "-1.0" + }, + "min_z": { + "type": "number", + "description": "z-coordinate minimum value for crop range", + "default": "-1.0" + }, + "max_x": { + "type": "number", + "description": "x-coordinate maximum value for crop range", + "default": "1.0" + }, + "max_y": { + "type": "number", + "description": "y-coordinate maximum value for crop range", + "default": "1.0" + }, + "max_z": { + "type": "number", + "description": "z-coordinate maximum value for crop range", + "default": "1.0" + } + }, + "required": ["min_x", "min_y", "min_z", "max_x", "max_y", "max_z"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/crop_box_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json b/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json new file mode 100644 index 0000000000000..632470417ac53 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json @@ -0,0 +1,54 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "passthrough_filter", + "type": "object", + "definitions": { + "passthrough_filter": { + "type": "object", + "properties": { + "filter_limit_min": { + "type": "number", + "description": "minimum allowed field value", + "default": "0" + }, + "filter_limit_max": { + "type": "number", + "description": "maximum allowed field value", + "default": "127" + }, + "filter_field_name": { + "type": "string", + "description": "filtering field name", + "default": "ring" + }, + "keep_organized": { + "type": "boolean", + "description": "flag to keep indices structure", + "default": "false" + }, + "filter_limit_negative": { + "type": "boolean", + "description": "flag to return whether the data is inside limit or not", + "default": "false" + } + }, + "required": ["filter_limit_min", "filter_limit_max", "filter_field_name", + "keep_organized", "filter_limit_negative"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/passthrough_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json new file mode 100644 index 0000000000000..e6b04c6b11321 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json @@ -0,0 +1,92 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "ring_outlier_filter", + "type": "object", + "definitions": { + "ring_outlier_filter": { + "type": "object", + "properties": { + "distance_ratio": { + "type": "number", + "description": "distance_ratio", + "default": "1.03" + }, + "object_length_threshold": { + "type": "number", + "description": "object_length_threshold", + "default": "0.1" + }, + "num_points_threshold": { + "type": "number", + "description": "num_points_threshold", + "default": "4" + }, + "max_rings_num": { + "type": "number", + "description": "max_rings_num", + "default": "128" + }, + "max_points_num_per_ring": { + "type": "number", + "description": "Set this value large enough such that HFoV / resolution < max_points_num_per_ring", + "default": "4000" + }, + "publish_outlier_pointcloud": { + "type": "boolean", + "description": "Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments.", + "default": "false" + }, + "min_azimuth_deg": { + "type": "number", + "description": "The left limit of azimuth for visibility score calculation", + "default": "0.0" + }, + "max_azimuth_deg": { + "type": "number", + "description": "The right limit of azimuth for visibility score calculation", + "default": "360.0" + }, + "max_distance": { + "type": "number", + "description": "The limit distance for visibility score calculation", + "default": "12.0" + }, + "vertical_bins": { + "type": "number", + "description": "The number of vertical bin for visibility histogram", + "default": "128" + }, + "horizontal_bins": { + "type": "number", + "description": "The number of horizontal bin for visibility histogram", + "default": "36" + }, + "noise_threshold": { + "type": "number", + "description": "The threshold value for distinguishing noise from valid points in the frequency image", + "default": "2" + } + }, + "required": ["distance_ratio", "object_length_threshold", "num_points_threshold", + "max_rings_num", "max_points_num_per_ring", "publish_outlier_pointcloud", + "min_azimuth_deg", "max_azimuth_deg", "max_distance", "vertical_bins", + "horizontal_bins", "noise_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/ring_outlier_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json b/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json new file mode 100644 index 0000000000000..366469e3b8473 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json @@ -0,0 +1,44 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "vector_map_inside_area_filter", + "type": "object", + "definitions": { + "vector_map_inside_area_filter": { + "type": "object", + "properties": { + "polygon_type": { + "type": "string", + "description": "polygon type to be filtered", + "default": "no_obstacle_segmentation_area" + }, + "use_z_filter": { + "type": "boolean", + "description": "use z value for filtering", + "default": "false" + }, + "z_threshold": { + "type": "number", + "description": "z threshold for filtering", + "default": "0.0" + } + }, + "required": ["polygon_type", "use_z_filter", "z_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/vector_map_inside_area_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json new file mode 100644 index 0000000000000..75584cd89cba0 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json @@ -0,0 +1,44 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "voxel_grid_downsample_filter", + "type": "object", + "definitions": { + "voxel_grid_downsample_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "voxel size x [m]", + "default": "0.3" + }, + "voxel_size_y": { + "type": "number", + "description": "voxel size y [m]", + "default": "0.3" + }, + "voxel_size_z": { + "type": "number", + "description": "voxel size z [m]", + "default": "0.1" + } + }, + "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/voxel_grid_downsample_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json new file mode 100644 index 0000000000000..abbce452f3a2b --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json @@ -0,0 +1,49 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "voxel_grid_outlier_filter", + "type": "object", + "definitions": { + "voxel_grid_outlier_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "the voxel size along x-axis [m]", + "default": "0.3" + }, + "voxel_size_y": { + "type": "number", + "description": "the voxel size along y-axis [m]", + "default": "0.3" + }, + "voxel_size_z": { + "type": "number", + "description": "the voxel size along z-axis [m]", + "default": "0.1" + }, + "voxel_points_threshold": { + "type": "number", + "description": "the minimum number of points in each voxel", + "default": "2" + } + }, + "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z", "voxel_points_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/voxel_grid_outlier_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } + \ No newline at end of file From e10e2b0be9e50c9e080e1bf051e32469c1623b6d Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 24 Jun 2024 15:24:43 +0000 Subject: [PATCH 013/306] style(pre-commit): autofix --- .../schema/crop_box_filter.schema.json | 110 +++++------ .../schema/passthrough_filter.schema.json | 107 +++++----- .../schema/ring_outlier_filter.schema.json | 187 +++++++++--------- .../vector_map_insdie_area_filter.schema.json | 81 ++++---- .../voxel_grid_downsample_filter.schema.json | 81 ++++---- .../voxel_grid_outlier_filter.schema.json | 91 +++++---- 6 files changed, 334 insertions(+), 323 deletions(-) diff --git a/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json b/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json index 44d8a40baecbf..a9beb7a75d552 100644 --- a/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json @@ -1,58 +1,58 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "INSERT_TITLE", - "type": "object", - "definitions": { - "crop_box_filter": { - "type": "object", - "properties": { - "min_x": { - "type": "number", - "description": "x-coordinate minimum value for crop range", - "default": "-1.0" - }, - "min_y": { - "type": "number", - "description": "y-coordinate minimum value for crop range", - "default": "-1.0" - }, - "min_z": { - "type": "number", - "description": "z-coordinate minimum value for crop range", - "default": "-1.0" - }, - "max_x": { - "type": "number", - "description": "x-coordinate maximum value for crop range", - "default": "1.0" - }, - "max_y": { - "type": "number", - "description": "y-coordinate maximum value for crop range", - "default": "1.0" - }, - "max_z": { - "type": "number", - "description": "z-coordinate maximum value for crop range", - "default": "1.0" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "INSERT_TITLE", + "type": "object", + "definitions": { + "crop_box_filter": { + "type": "object", + "properties": { + "min_x": { + "type": "number", + "description": "x-coordinate minimum value for crop range", + "default": "-1.0" }, - "required": ["min_x", "min_y", "min_z", "max_x", "max_y", "max_z"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/crop_box_filter" - } + "min_y": { + "type": "number", + "description": "y-coordinate minimum value for crop range", + "default": "-1.0" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } \ No newline at end of file + "min_z": { + "type": "number", + "description": "z-coordinate minimum value for crop range", + "default": "-1.0" + }, + "max_x": { + "type": "number", + "description": "x-coordinate maximum value for crop range", + "default": "1.0" + }, + "max_y": { + "type": "number", + "description": "y-coordinate maximum value for crop range", + "default": "1.0" + }, + "max_z": { + "type": "number", + "description": "z-coordinate maximum value for crop range", + "default": "1.0" + } + }, + "required": ["min_x", "min_y", "min_z", "max_x", "max_y", "max_z"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/crop_box_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json b/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json index 632470417ac53..92a1b7988ec05 100644 --- a/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json @@ -1,54 +1,59 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "passthrough_filter", - "type": "object", - "definitions": { - "passthrough_filter": { - "type": "object", - "properties": { - "filter_limit_min": { - "type": "number", - "description": "minimum allowed field value", - "default": "0" - }, - "filter_limit_max": { - "type": "number", - "description": "maximum allowed field value", - "default": "127" - }, - "filter_field_name": { - "type": "string", - "description": "filtering field name", - "default": "ring" - }, - "keep_organized": { - "type": "boolean", - "description": "flag to keep indices structure", - "default": "false" - }, - "filter_limit_negative": { - "type": "boolean", - "description": "flag to return whether the data is inside limit or not", - "default": "false" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "passthrough_filter", + "type": "object", + "definitions": { + "passthrough_filter": { + "type": "object", + "properties": { + "filter_limit_min": { + "type": "number", + "description": "minimum allowed field value", + "default": "0" }, - "required": ["filter_limit_min", "filter_limit_max", "filter_field_name", - "keep_organized", "filter_limit_negative"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/passthrough_filter" - } + "filter_limit_max": { + "type": "number", + "description": "maximum allowed field value", + "default": "127" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } \ No newline at end of file + "filter_field_name": { + "type": "string", + "description": "filtering field name", + "default": "ring" + }, + "keep_organized": { + "type": "boolean", + "description": "flag to keep indices structure", + "default": "false" + }, + "filter_limit_negative": { + "type": "boolean", + "description": "flag to return whether the data is inside limit or not", + "default": "false" + } + }, + "required": [ + "filter_limit_min", + "filter_limit_max", + "filter_field_name", + "keep_organized", + "filter_limit_negative" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/passthrough_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json index e6b04c6b11321..358a1b6da1635 100644 --- a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json @@ -1,92 +1,101 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "ring_outlier_filter", - "type": "object", - "definitions": { - "ring_outlier_filter": { - "type": "object", - "properties": { - "distance_ratio": { - "type": "number", - "description": "distance_ratio", - "default": "1.03" - }, - "object_length_threshold": { - "type": "number", - "description": "object_length_threshold", - "default": "0.1" - }, - "num_points_threshold": { - "type": "number", - "description": "num_points_threshold", - "default": "4" - }, - "max_rings_num": { - "type": "number", - "description": "max_rings_num", - "default": "128" - }, - "max_points_num_per_ring": { - "type": "number", - "description": "Set this value large enough such that HFoV / resolution < max_points_num_per_ring", - "default": "4000" - }, - "publish_outlier_pointcloud": { - "type": "boolean", - "description": "Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments.", - "default": "false" - }, - "min_azimuth_deg": { - "type": "number", - "description": "The left limit of azimuth for visibility score calculation", - "default": "0.0" - }, - "max_azimuth_deg": { - "type": "number", - "description": "The right limit of azimuth for visibility score calculation", - "default": "360.0" - }, - "max_distance": { - "type": "number", - "description": "The limit distance for visibility score calculation", - "default": "12.0" - }, - "vertical_bins": { - "type": "number", - "description": "The number of vertical bin for visibility histogram", - "default": "128" - }, - "horizontal_bins": { - "type": "number", - "description": "The number of horizontal bin for visibility histogram", - "default": "36" - }, - "noise_threshold": { - "type": "number", - "description": "The threshold value for distinguishing noise from valid points in the frequency image", - "default": "2" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "ring_outlier_filter", + "type": "object", + "definitions": { + "ring_outlier_filter": { + "type": "object", + "properties": { + "distance_ratio": { + "type": "number", + "description": "distance_ratio", + "default": "1.03" }, - "required": ["distance_ratio", "object_length_threshold", "num_points_threshold", - "max_rings_num", "max_points_num_per_ring", "publish_outlier_pointcloud", - "min_azimuth_deg", "max_azimuth_deg", "max_distance", "vertical_bins", - "horizontal_bins", "noise_threshold"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/ring_outlier_filter" - } + "object_length_threshold": { + "type": "number", + "description": "object_length_threshold", + "default": "0.1" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } - \ No newline at end of file + "num_points_threshold": { + "type": "number", + "description": "num_points_threshold", + "default": "4" + }, + "max_rings_num": { + "type": "number", + "description": "max_rings_num", + "default": "128" + }, + "max_points_num_per_ring": { + "type": "number", + "description": "Set this value large enough such that HFoV / resolution < max_points_num_per_ring", + "default": "4000" + }, + "publish_outlier_pointcloud": { + "type": "boolean", + "description": "Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments.", + "default": "false" + }, + "min_azimuth_deg": { + "type": "number", + "description": "The left limit of azimuth for visibility score calculation", + "default": "0.0" + }, + "max_azimuth_deg": { + "type": "number", + "description": "The right limit of azimuth for visibility score calculation", + "default": "360.0" + }, + "max_distance": { + "type": "number", + "description": "The limit distance for visibility score calculation", + "default": "12.0" + }, + "vertical_bins": { + "type": "number", + "description": "The number of vertical bin for visibility histogram", + "default": "128" + }, + "horizontal_bins": { + "type": "number", + "description": "The number of horizontal bin for visibility histogram", + "default": "36" + }, + "noise_threshold": { + "type": "number", + "description": "The threshold value for distinguishing noise from valid points in the frequency image", + "default": "2" + } + }, + "required": [ + "distance_ratio", + "object_length_threshold", + "num_points_threshold", + "max_rings_num", + "max_points_num_per_ring", + "publish_outlier_pointcloud", + "min_azimuth_deg", + "max_azimuth_deg", + "max_distance", + "vertical_bins", + "horizontal_bins", + "noise_threshold" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/ring_outlier_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json b/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json index 366469e3b8473..2040f8474146e 100644 --- a/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json @@ -1,44 +1,43 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "vector_map_inside_area_filter", - "type": "object", - "definitions": { - "vector_map_inside_area_filter": { - "type": "object", - "properties": { - "polygon_type": { - "type": "string", - "description": "polygon type to be filtered", - "default": "no_obstacle_segmentation_area" - }, - "use_z_filter": { - "type": "boolean", - "description": "use z value for filtering", - "default": "false" - }, - "z_threshold": { - "type": "number", - "description": "z threshold for filtering", - "default": "0.0" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "vector_map_inside_area_filter", + "type": "object", + "definitions": { + "vector_map_inside_area_filter": { + "type": "object", + "properties": { + "polygon_type": { + "type": "string", + "description": "polygon type to be filtered", + "default": "no_obstacle_segmentation_area" }, - "required": ["polygon_type", "use_z_filter", "z_threshold"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/vector_map_inside_area_filter" - } + "use_z_filter": { + "type": "boolean", + "description": "use z value for filtering", + "default": "false" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } - \ No newline at end of file + "z_threshold": { + "type": "number", + "description": "z threshold for filtering", + "default": "0.0" + } + }, + "required": ["polygon_type", "use_z_filter", "z_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/vector_map_inside_area_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json index 75584cd89cba0..24f4051f621b9 100644 --- a/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json @@ -1,44 +1,43 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "voxel_grid_downsample_filter", - "type": "object", - "definitions": { - "voxel_grid_downsample_filter": { - "type": "object", - "properties": { - "voxel_size_x": { - "type": "number", - "description": "voxel size x [m]", - "default": "0.3" - }, - "voxel_size_y": { - "type": "number", - "description": "voxel size y [m]", - "default": "0.3" - }, - "voxel_size_z": { - "type": "number", - "description": "voxel size z [m]", - "default": "0.1" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "voxel_grid_downsample_filter", + "type": "object", + "definitions": { + "voxel_grid_downsample_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "voxel size x [m]", + "default": "0.3" }, - "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/voxel_grid_downsample_filter" - } + "voxel_size_y": { + "type": "number", + "description": "voxel size y [m]", + "default": "0.3" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } - \ No newline at end of file + "voxel_size_z": { + "type": "number", + "description": "voxel size z [m]", + "default": "0.1" + } + }, + "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/voxel_grid_downsample_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json index abbce452f3a2b..5d51581e9de7f 100644 --- a/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json @@ -1,49 +1,48 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "voxel_grid_outlier_filter", - "type": "object", - "definitions": { - "voxel_grid_outlier_filter": { - "type": "object", - "properties": { - "voxel_size_x": { - "type": "number", - "description": "the voxel size along x-axis [m]", - "default": "0.3" - }, - "voxel_size_y": { - "type": "number", - "description": "the voxel size along y-axis [m]", - "default": "0.3" - }, - "voxel_size_z": { - "type": "number", - "description": "the voxel size along z-axis [m]", - "default": "0.1" - }, - "voxel_points_threshold": { - "type": "number", - "description": "the minimum number of points in each voxel", - "default": "2" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "voxel_grid_outlier_filter", + "type": "object", + "definitions": { + "voxel_grid_outlier_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "the voxel size along x-axis [m]", + "default": "0.3" }, - "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z", "voxel_points_threshold"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/voxel_grid_outlier_filter" - } + "voxel_size_y": { + "type": "number", + "description": "the voxel size along y-axis [m]", + "default": "0.3" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } - \ No newline at end of file + "voxel_size_z": { + "type": "number", + "description": "the voxel size along z-axis [m]", + "default": "0.1" + }, + "voxel_points_threshold": { + "type": "number", + "description": "the minimum number of points in each voxel", + "default": "2" + } + }, + "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z", "voxel_points_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/voxel_grid_outlier_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} From 0e1aabeaae4628b0b8068dbc797ddce908530824 Mon Sep 17 00:00:00 2001 From: Ariiees Date: Tue, 2 Jul 2024 10:36:14 -0400 Subject: [PATCH 014/306] solve problem Signed-off-by: Ariiees --- ...e_downsample_filter_param_file.param.yaml} | 0 ...lockage_diagnostics_param_file.param.yaml} | 0 ...enate_and_time_sync_param_file.param.yaml} | 0 ...atenate_pointclouds_param_file.param.yaml} | 0 ... => crop_box_filter_param_file.param.yaml} | 0 ...istortion_corrector_param_file.param.yaml} | 0 ...turn_outlier_filter_param_file.param.yaml} | 0 ...file.yaml => filter_param_file.param.yaml} | 0 ...lanelet2_map_filter_param_file.param.yaml} | 0 ...rough_filter_unit16_param_file.param.yaml} | 0 ...d_downsample_filter_param_file.param.yaml} | 0 ...ntcloud_accumulator_param_file.param.yaml} | 0 ...h_2d_outlier_filter_param_file.param.yaml} | 0 ...m_downsample_filter_param_file.param.yaml} | 0 ...ring_outlier_filter_param_file.param.yaml} | 0 ...> time_synchronizer_param_file.param.yaml} | 0 ..._inside_area_filter_param_file.param.yaml} | 0 ...d_downsample_filter_param_file.param.yaml} | 0 ...grid_outlier_filter_param_file.param.yaml} | 0 .../approximate_downsample_filter.launch.xml | 4 +- .../launch/blockage_diag.launch.xml | 4 +- .../launch/distortion_corrector.launch.xml | 2 +- .../dual_return_outlier_filter.launch.xml | 4 +- .../launch/lanelet2_map_filter.launch.xml | 2 +- ...ed_voxel_grid_downsample_filter.launch.xml | 4 +- .../launch/pointcloud_accumulator.launch.xml | 4 +- ...radius_search_2d_outlier_filter.launch.xml | 4 +- .../random_downsample_filter.launch.xml | 4 +- .../launch/ring_outlier_filter.launch.xml | 4 +- .../launch/ring_passthrough_filter.launch.xml | 4 +- .../vector_map_inside_area_filter.launch.xml | 4 +- .../voxel_grid_downsample_filter.launch.xml | 4 +- .../voxel_grid_outlier_filter.launch.xml | 4 +- .../approximate_downsample_filter.schema.json | 2 +- .../schema/blockage_diag.schema.json | 2 +- .../schema/crop_box_filter.schema.json | 2 +- .../schema/distortion_corrector.schema.json | 2 +- .../dual_return_outlier_filter.schema.json | 2 +- .../schema/filter.schema.json | 2 +- .../schema/lanelet2_map_filter.schema.json | 6 +-- .../schema/passthrough_filter.schema.json | 2 +- ...d_voxel_grid_downsample_filter.schema.json | 43 +++++++++++++++++++ .../random_downsample_filter.schema.json | 4 +- .../schema/ring_outlier_filter.schema.json | 2 +- .../ring_passthrough_filter.schema.json | 14 +++--- .../vector_map_insdie_area_filter.schema.json | 2 +- .../voxel_grid_downsample_filter.schema.json | 2 +- .../voxel_grid_outlier_filter.schema.json | 2 +- 48 files changed, 92 insertions(+), 49 deletions(-) rename sensing/pointcloud_preprocessor/config/{approximate_downsample_filter_param_file.yaml => approximate_downsample_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{blockage_diagnostics_param_file.yaml => blockage_diagnostics_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{concatenate_and_time_sync_param_file.yaml => concatenate_and_time_sync_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{concatenate_pointclouds_param_file.yaml => concatenate_pointclouds_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{crop_box_filter_param_file.yaml => crop_box_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{distortion_corrector_param_file.yaml => distortion_corrector_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{dual_return_outlier_filter_param_file.yaml => dual_return_outlier_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{filter_param_file.yaml => filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{lanelet2_map_filter_param_file.yaml => lanelet2_map_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{passthrough_filter_unit16_param_file.yaml => passthrough_filter_unit16_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{pickup_based_voxel_grid_downsample_filter_param_file.yaml => pickup_based_voxel_grid_downsample_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{pointcloud_accumulator_param_file.yaml => pointcloud_accumulator_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{radius_search_2d_outlier_filter_param_file.yaml => radius_search_2d_outlier_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{random_downsample_filter_param_file.yaml => random_downsample_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{ring_outlier_filter_param_file.yaml => ring_outlier_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{time_synchronizer_param_file.yaml => time_synchronizer_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{vector_map_inside_area_filter_param_file.yaml => vector_map_inside_area_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{voxel_grid_downsample_filter_param_file.yaml => voxel_grid_downsample_filter_param_file.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{voxel_grid_outlier_filter_param_file.yaml => voxel_grid_outlier_filter_param_file.param.yaml} (100%) diff --git a/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml b/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml rename to sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.yaml rename to sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.yaml rename to sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml b/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.yaml rename to sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml b/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.yaml rename to sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml b/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.yaml rename to sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml b/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.yaml rename to sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.yaml b/sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.yaml rename to sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.param.yaml diff --git a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml index 627ebbcd842b0..6444e1058c379 100644 --- a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml b/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml index 90902ccf7a5d3..acb7f50a23d47 100644 --- a/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml @@ -5,8 +5,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml b/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml index ae0f3141c2097..c002a009db5c7 100644 --- a/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml index 0961dd4aca014..734c51121ed6a 100644 --- a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml @@ -6,8 +6,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml index 6573544c4a987..eeeda4508fac0 100644 --- a/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml index f77d42bf17196..1abcc79816fc8 100644 --- a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml index 231334b29f169..75d15c9b44c27 100644 --- a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml index 469b4d22a724e..83a7a018d3489 100644 --- a/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml index 7374452e2e9fb..419f7af133189 100644 --- a/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml @@ -4,8 +4,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml index 312df90a65b92..41f6e24a3966b 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml index 34bd5fa71d72c..299d45f23f27a 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml @@ -8,8 +8,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml index c1350801c55dc..bad52bb580a6f 100644 --- a/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml @@ -1,8 +1,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml index 72ed333f4dd47..1bb269cda9079 100644 --- a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml index 29b220f99e798..a60f403c99f55 100644 --- a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json index 40cff46455aa1..f7b10ee304bb8 100644 --- a/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "approximate_downsample_filter", + "title": "Parameter for approximate downsample filter", "type": "object", "definitions": { "approximate_downsample_filter": { diff --git a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json index 8d8efdb2ca09c..d2c06d057e8b6 100644 --- a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json +++ b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "blockage_diag", + "title": "Parameter for blockage diag filter", "type": "object", "definitions": { "blockage_diag": { diff --git a/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json b/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json index a9beb7a75d552..f8d820d86ae37 100644 --- a/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "INSERT_TITLE", + "title": "Parameter for crop box filter", "type": "object", "definitions": { "crop_box_filter": { diff --git a/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json b/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json index 9529e58a107ac..bb1d86bd9e783 100644 --- a/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json +++ b/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "distortion_corrector", + "title": "Parameter for distortion corrector", "type": "object", "definitions": { "distortion_corrector": { diff --git a/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json index 3baab9fd0123b..4c8f7641d367b 100644 --- a/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "dual_return_outlier_filter", + "title": "Parameter for dual return outlier filter", "type": "object", "definitions": { "dual_return_outlier_filter": { diff --git a/sensing/pointcloud_preprocessor/schema/filter.schema.json b/sensing/pointcloud_preprocessor/schema/filter.schema.json index 13104a85b8f65..1c77e63085981 100644 --- a/sensing/pointcloud_preprocessor/schema/filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "filter", + "title": "Parameter for filter", "type": "object", "definitions": { "filter": { diff --git a/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json b/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json index 0236c7ad89baf..af23858ddbb1b 100644 --- a/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "lanelet2_map_filter", + "title": "Parameter for lanelet2 map filter", "type": "object", "definitions": { "lanelet2_map_filter": { @@ -8,12 +8,12 @@ "properties": { "voxel_size_x": { "type": "number", - "description": "voxel size", + "description": "voxel size along x-axis [m]", "default": "0.04" }, "voxel_size_y": { "type": "number", - "description": "voxel size", + "description": "voxel size along y-axis [m]", "default": "0.04" } }, diff --git a/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json b/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json index 92a1b7988ec05..2510b7fae4b28 100644 --- a/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "passthrough_filter", + "title": "Parameter for passthrough filter", "type": "object", "definitions": { "passthrough_filter": { diff --git a/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json index e69de29bb2d1d..41e6facdd71b4 100644 --- a/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json @@ -0,0 +1,43 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameter for pickup based voxel grid downsample filter", + "type": "object", + "definitions": { + "pickup_based_voxel_grid_downsample_fitler": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "voxel size along x-axis [m]", + "default": "1.0" + }, + "voxel_size_y": { + "type": "number", + "description": "voxel size along y-axis [m]", + "default": "1.0" + }, + "voxel_size_z": { + "type": "number", + "description": "voxel size along z-axis [m]", + "default": "1.0" + } + }, + "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/pickup_based_voxel_grid_downsample_fitler" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json index 7fe756ff35721..569bf79749a6f 100644 --- a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "random_downsample_filter", + "title": "Paramter for random downsample filter", "type": "object", "definitions": { "random_downsample_filter": { @@ -8,7 +8,7 @@ "properties": { "sample_num": { "type": "number", - "description": "sample numbers", + "description": "number of indices to be sampled", "default": "1500" } }, diff --git a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json index 358a1b6da1635..1549d7adcdce1 100644 --- a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "ring_outlier_filter", + "title": "Parameter for ring outlier filter", "type": "object", "definitions": { "ring_outlier_filter": { diff --git a/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json b/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json index 79aead4283818..9c98445080dd2 100644 --- a/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "ring_outlier_filter", + "title": "Parameter for ring outlier filter", "type": "object", "definitions": { "ring_outlier_filter": { @@ -17,17 +17,17 @@ "default": "0.1" }, "num_points_threshold": { - "type": "number", + "type": "integer", "description": "number points threshold", "default": "4" }, "max_rings_num": { - "type": "number", + "type": "integer", "description": "max rings number", "default": "128" }, "max_points_num_per_ring": { - "type": "number", + "type": "integer", "description": "maximum points number per ring", "default": "4000" }, @@ -52,17 +52,17 @@ "default": "12.0" }, "vertical_bins": { - "type": "number", + "type": "integer", "description": "vertical bins", "default": "128" }, "horizontal_bins": { - "type": "number", + "type": "integer", "description": "horizontal bins", "default": "36" }, "noise_threshold": { - "type": "number", + "type": "integer", "description": "noise threshold", "default": "2" } diff --git a/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json b/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json index 2040f8474146e..e50549faf7331 100644 --- a/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "vector_map_inside_area_filter", + "title": "Parameter for vector map inside area filter", "type": "object", "definitions": { "vector_map_inside_area_filter": { diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json index 24f4051f621b9..47972b04e2589 100644 --- a/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "voxel_grid_downsample_filter", + "title": "Parameter for voxel grid downsample filter", "type": "object", "definitions": { "voxel_grid_downsample_filter": { diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json index 5d51581e9de7f..043f9b96eee3b 100644 --- a/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json @@ -1,6 +1,6 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "voxel_grid_outlier_filter", + "title": "Parameter for voxel grid outlier filter", "type": "object", "definitions": { "voxel_grid_outlier_filter": { From 17924c4d7964e4ea1a4f67fae93e7f12962bf105 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 2 Jul 2024 14:39:43 +0000 Subject: [PATCH 015/306] style(pre-commit): autofix --- ...d_voxel_grid_downsample_filter.schema.json | 80 +++++++++---------- 1 file changed, 40 insertions(+), 40 deletions(-) diff --git a/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json index 41e6facdd71b4..eec3617c59086 100644 --- a/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json @@ -1,43 +1,43 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "Parameter for pickup based voxel grid downsample filter", - "type": "object", - "definitions": { - "pickup_based_voxel_grid_downsample_fitler": { - "type": "object", - "properties": { - "voxel_size_x": { - "type": "number", - "description": "voxel size along x-axis [m]", - "default": "1.0" - }, - "voxel_size_y": { - "type": "number", - "description": "voxel size along y-axis [m]", - "default": "1.0" - }, - "voxel_size_z": { - "type": "number", - "description": "voxel size along z-axis [m]", - "default": "1.0" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameter for pickup based voxel grid downsample filter", + "type": "object", + "definitions": { + "pickup_based_voxel_grid_downsample_fitler": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "voxel size along x-axis [m]", + "default": "1.0" }, - "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/pickup_based_voxel_grid_downsample_fitler" - } + "voxel_size_y": { + "type": "number", + "description": "voxel size along y-axis [m]", + "default": "1.0" }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } \ No newline at end of file + "voxel_size_z": { + "type": "number", + "description": "voxel size along z-axis [m]", + "default": "1.0" + } + }, + "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/pickup_based_voxel_grid_downsample_fitler" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} From d52bf3e7361dbc04d9b02a70b47473763af249d7 Mon Sep 17 00:00:00 2001 From: Ariiees Date: Thu, 11 Jul 2024 13:52:40 -0400 Subject: [PATCH 016/306] rename variable in function Signed-off-by: Ariiees --- .../launch/polygon_remover.launch.py | 8 ++++---- .../pointcloud_preprocessor/launch/preprocessor.launch.py | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py index e286ed74ba1ed..d06ca64088efc 100644 --- a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py +++ b/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py @@ -21,11 +21,11 @@ import yaml -def load_parameter_dic(share_direc_path, yaml_path): - param_file = os.path.join(get_package_share_directory(share_direc_path), yaml_path) +def load_parameter_dic(package_share_directory, yaml_file_path): + param_file = os.path.join(get_package_share_directory(package_share_directory), yaml_file_path) - with open(param_file, "r") as f: - param_dic = yaml.safe_load(f)["/**"]["ros__parameters"] + with open(param_file, "r") as file: + param_dic = yaml.safe_load(file)["/**"]["ros__parameters"] return param_dic diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py index 75c1108174fb3..459ce07aef525 100644 --- a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py +++ b/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py @@ -26,11 +26,11 @@ import yaml -def load_parameter_dic(share_direc_path, yaml_path): - param_file = os.path.join(get_package_share_directory(share_direc_path), yaml_path) +def load_parameter_dic(package_share_directory, yaml_file_path): + param_file = os.path.join(get_package_share_directory(package_share_directory), yaml_file_path) - with open(param_file, "r") as f: - param_dic = yaml.safe_load(f)["/**"]["ros__parameters"] + with open(param_file, "r") as file: + param_dic = yaml.safe_load(file)["/**"]["ros__parameters"] return param_dic From 0837e6c005950080d43fe90a3377ac341ee3e1c9 Mon Sep 17 00:00:00 2001 From: Ariiees Date: Fri, 19 Jul 2024 10:30:01 -0400 Subject: [PATCH 017/306] resovle comments Signed-off-by: Ariiees --- sensing/pointcloud_preprocessor/README.md | 20 +--- ... approximate_downsample_filter.param.yaml} | 0 ...m.yaml => blockage_diagnostics.param.yaml} | 4 + ...l => concatenate_and_time_sync.param.yaml} | 0 ...aml => concatenate_pointclouds.param.yaml} | 0 ....param.yaml => crop_box_filter.param.yaml} | 2 +- ...m.yaml => distortion_corrector.param.yaml} | 0 ... => dual_return_outlier_filter.param.yaml} | 0 ...aram_file.param.yaml => filter.param.yaml} | 0 ...am.yaml => lanelet2_map_filter.param.yaml} | 0 ...l => passthrough_filter_unit16.param.yaml} | 0 ...d_voxel_grid_downsample_filter.param.yaml} | 0 ...yaml => pointcloud_accumulator.param.yaml} | 0 ...adius_search_2d_outlier_filter.param.yaml} | 0 ...ml => random_downsample_filter.param.yaml} | 0 ...am.yaml => ring_outlier_filter.param.yaml} | 0 ...aram.yaml => time_synchronizer.param.yaml} | 0 ... vector_map_inside_area_filter.param.yaml} | 0 ...> voxel_grid_downsample_filter.param.yaml} | 0 ...l => voxel_grid_outlier_filter.param.yaml} | 0 .../docs/blockage_diag.md | 2 + .../docs/crop-box-filter.md | 2 + .../docs/distortion-corrector.md | 2 + .../docs/downsample-filter.md | 8 ++ .../docs/dual-return-outlier-filter.md | 2 + .../docs/passthrough-filter.md | 2 + .../docs/pointcloud-accumulator.md | 2 + .../docs/radius-search-2d-outlier-filter.md | 2 + .../docs/ring-outlier-filter.md | 2 + .../docs/vector-map-filter.md | 2 + .../docs/vector-map-inside-area-filter.md | 2 + .../docs/voxel-grid-outlier-filter.md | 2 + .../approximate_downsample_filter.launch.xml | 4 +- .../launch/blockage_diag.launch.xml | 12 +-- .../launch/crop_box_filter.launch.xml | 15 +++ .../launch/distortion_corrector.launch.xml | 6 -- .../dual_return_outlier_filter.launch.xml | 10 +- .../launch/lanelet2_map_filter.launch.xml | 2 +- ...ed_voxel_grid_downsample_filter.launch.xml | 4 +- .../launch/pointcloud_accumulator.launch.xml | 4 +- ...radius_search_2d_outlier_filter.launch.xml | 4 +- .../random_downsample_filter.launch.xml | 6 +- .../launch/ring_outlier_filter.launch.xml | 4 +- .../launch/ring_passthrough_filter.launch.xml | 12 +-- .../vector_map_inside_area_filter.launch.xml | 4 +- .../voxel_grid_downsample_filter.launch.xml | 4 +- .../voxel_grid_outlier_filter.launch.xml | 4 +- .../approximate_downsample_filter.schema.json | 6 +- .../schema/blockage_diag.schema.json | 46 ++++++-- .../schema/distortion_corrector.schema.json | 38 ------- .../dual_return_outlier_filter.schema.json | 36 +++---- .../schema/filter.schema.json | 11 +- .../schema/passthrough_filter.schema.json | 4 +- .../schema/pointcloud_accumulator.schema.json | 39 +++++++ .../random_downsample_filter.schema.json | 11 +- .../schema/ring_outlier_filter.schema.json | 26 ++--- .../ring_passthrough_filter.schema.json | 101 ------------------ ...vector_map_inside_area_filter.schema.json} | 0 .../voxel_grid_downsample_filter.schema.json | 6 +- .../voxel_grid_outlier_filter.schema.json | 2 +- .../concatenate_and_time_sync_nodelet.cpp | 2 +- .../random_downsample_filter_nodelet.cpp | 2 +- ...adius_search_2d_outlier_filter_nodelet.cpp | 2 +- .../ring_outlier_filter_nodelet.cpp | 2 +- .../pointcloud_accumulator_nodelet.cpp | 2 +- 65 files changed, 211 insertions(+), 276 deletions(-) rename sensing/pointcloud_preprocessor/config/{approximate_downsample_filter_param_file.param.yaml => approximate_downsample_filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{blockage_diagnostics_param_file.param.yaml => blockage_diagnostics.param.yaml} (79%) rename sensing/pointcloud_preprocessor/config/{concatenate_and_time_sync_param_file.param.yaml => concatenate_and_time_sync.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{concatenate_pointclouds_param_file.param.yaml => concatenate_pointclouds.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{crop_box_filter_param_file.param.yaml => crop_box_filter.param.yaml} (88%) rename sensing/pointcloud_preprocessor/config/{distortion_corrector_param_file.param.yaml => distortion_corrector.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{dual_return_outlier_filter_param_file.param.yaml => dual_return_outlier_filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{filter_param_file.param.yaml => filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{lanelet2_map_filter_param_file.param.yaml => lanelet2_map_filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{passthrough_filter_unit16_param_file.param.yaml => passthrough_filter_unit16.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{pickup_based_voxel_grid_downsample_filter_param_file.param.yaml => pickup_based_voxel_grid_downsample_filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{pointcloud_accumulator_param_file.param.yaml => pointcloud_accumulator.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{radius_search_2d_outlier_filter_param_file.param.yaml => radius_search_2d_outlier_filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{random_downsample_filter_param_file.param.yaml => random_downsample_filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{ring_outlier_filter_param_file.param.yaml => ring_outlier_filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{time_synchronizer_param_file.param.yaml => time_synchronizer.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{vector_map_inside_area_filter_param_file.param.yaml => vector_map_inside_area_filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{voxel_grid_downsample_filter_param_file.param.yaml => voxel_grid_downsample_filter.param.yaml} (100%) rename sensing/pointcloud_preprocessor/config/{voxel_grid_outlier_filter_param_file.param.yaml => voxel_grid_outlier_filter.param.yaml} (100%) create mode 100644 sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml delete mode 100644 sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml delete mode 100644 sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json create mode 100644 sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json delete mode 100644 sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json rename sensing/pointcloud_preprocessor/schema/{vector_map_insdie_area_filter.schema.json => vector_map_inside_area_filter.schema.json} (100%) diff --git a/sensing/pointcloud_preprocessor/README.md b/sensing/pointcloud_preprocessor/README.md index 43b91632083c6..4f96861242cc8 100644 --- a/sensing/pointcloud_preprocessor/README.md +++ b/sensing/pointcloud_preprocessor/README.md @@ -41,28 +41,10 @@ Detail description of each filter's algorithm is in the following links. | ----------------- | ------------------------------- | --------------- | | `~/output/points` | `sensor_msgs::msg::PointCloud2` | filtered points | -## Parameters - -### Node Parameters +## Core Parameters {{ json_to_markdown("sensing/pointcloud_preprocessor/schema/filter.schema.json") }} -### blockage_diag - -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json") }} - -### dual_return_outlier_filter - -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json") }} - -### random_downsample_filter - -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json") }} - -### ring_passthrough_filter - -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json") }} - ## Assumptions / Known limits `pointcloud_preprocessor::Filter` is implemented based on pcl_perception [1] because diff --git a/sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/approximate_downsample_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/approximate_downsample_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/approximate_downsample_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/blockage_diagnostics.param.yaml similarity index 79% rename from sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/blockage_diagnostics.param.yaml index 13ddd8a7c7590..75503a3caf159 100644 --- a/sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.param.yaml +++ b/sensing/pointcloud_preprocessor/config/blockage_diagnostics.param.yaml @@ -14,3 +14,7 @@ max_distance_range: 200.0 horizontal_resolution: 0.4 blockage_kernel: 10 + angle_range: [0.0, 360.0] + vertical_bins: 40 + is_channel_order_top2down: true + horizontal_ring_id: 18 diff --git a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/concatenate_and_time_sync_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/concatenate_and_time_sync.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/concatenate_pointclouds_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/crop_box_filter.param.yaml similarity index 88% rename from sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/crop_box_filter.param.yaml index a4bdbdfadef3c..24c3a677ba580 100644 --- a/sensing/pointcloud_preprocessor/config/crop_box_filter_param_file.param.yaml +++ b/sensing/pointcloud_preprocessor/config/crop_box_filter.param.yaml @@ -7,4 +7,4 @@ max_x: 1.0 max_y: 1.0 max_z: 1.0 - # negative: false + negative: false diff --git a/sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/distortion_corrector.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/distortion_corrector_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/distortion_corrector.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/dual_return_outlier_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/dual_return_outlier_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/dual_return_outlier_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/lanelet2_map_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/lanelet2_map_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/lanelet2_map_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/passthrough_filter_unit16.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/passthrough_filter_unit16_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/passthrough_filter_unit16.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/pointcloud_accumulator.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/pointcloud_accumulator_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/pointcloud_accumulator.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/radius_search_2d_outlier_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/random_downsample_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/random_downsample_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/random_downsample_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/ring_outlier_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/ring_outlier_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/ring_outlier_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/time_synchronizer.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/time_synchronizer_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/time_synchronizer.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/vector_map_inside_area_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/voxel_grid_downsample_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.param.yaml b/sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter.param.yaml similarity index 100% rename from sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter_param_file.param.yaml rename to sensing/pointcloud_preprocessor/config/voxel_grid_outlier_filter.param.yaml diff --git a/sensing/pointcloud_preprocessor/docs/blockage_diag.md b/sensing/pointcloud_preprocessor/docs/blockage_diag.md index 082ae180fa3c9..65735e1bf3694 100644 --- a/sensing/pointcloud_preprocessor/docs/blockage_diag.md +++ b/sensing/pointcloud_preprocessor/docs/blockage_diag.md @@ -51,6 +51,8 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref ## Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json") }} + | Name | Type | Description | | ----------------------------- | ------ | ----------------------------------------------------------------------------------------------------------------------------- | | `blockage_ratio_threshold` | float | The threshold of blockage area ratio.If the blockage value exceeds this threshold, the diagnostic state will be set to ERROR. | diff --git a/sensing/pointcloud_preprocessor/docs/crop-box-filter.md b/sensing/pointcloud_preprocessor/docs/crop-box-filter.md index b6bd960c99919..553d91c6d3729 100644 --- a/sensing/pointcloud_preprocessor/docs/crop-box-filter.md +++ b/sensing/pointcloud_preprocessor/docs/crop-box-filter.md @@ -20,6 +20,8 @@ This implementation inherit `pointcloud_preprocessor::Filter` class, please refe ### Core Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json") }} + | Name | Type | Default Value | Description | | ------- | ------ | ------------- | ----------------------------------------- | | `min_x` | double | -1.0 | x-coordinate minimum value for crop range | diff --git a/sensing/pointcloud_preprocessor/docs/distortion-corrector.md b/sensing/pointcloud_preprocessor/docs/distortion-corrector.md index dcb03cc792cae..02f977dcc2cb8 100644 --- a/sensing/pointcloud_preprocessor/docs/distortion-corrector.md +++ b/sensing/pointcloud_preprocessor/docs/distortion-corrector.md @@ -39,6 +39,8 @@ $ ExactPointTime = TimeStamp + TimeOffset $ ### Core Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json") }} + | Name | Type | Default Value | Description | | ---------------------- | ------ | ------------- | ----------------------------------------------------------- | | `timestamp_field_name` | string | "time_stamp" | time stamp field name | diff --git a/sensing/pointcloud_preprocessor/docs/downsample-filter.md b/sensing/pointcloud_preprocessor/docs/downsample-filter.md index 25faf62b765bc..c0fc7a0d4af8f 100644 --- a/sensing/pointcloud_preprocessor/docs/downsample-filter.md +++ b/sensing/pointcloud_preprocessor/docs/downsample-filter.md @@ -36,6 +36,8 @@ These implementations inherit `pointcloud_preprocessor::Filter` class, please re #### Approximate Downsample Filter +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json") }} + | Name | Type | Default Value | Description | | -------------- | ------ | ------------- | ---------------- | | `voxel_size_x` | double | 0.3 | voxel size x [m] | @@ -44,12 +46,16 @@ These implementations inherit `pointcloud_preprocessor::Filter` class, please re ### Random Downsample Filter +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json") }} + | Name | Type | Default Value | Description | | ------------ | ---- | ------------- | ------------------------------- | | `sample_num` | int | 1500 | number of indices to be sampled | ### Voxel Grid Downsample Filter +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json") }} + | Name | Type | Default Value | Description | | -------------- | ------ | ------------- | ---------------- | | `voxel_size_x` | double | 0.3 | voxel size x [m] | @@ -58,6 +64,8 @@ These implementations inherit `pointcloud_preprocessor::Filter` class, please re ### Pickup Based Voxel Grid Downsample Filter +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json") }} + | Name | Type | Default Value | Description | | -------------- | ------ | ------------- | ---------------- | | `voxel_size_x` | double | 1.0 | voxel size x [m] | diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index c5a0b75e9b33b..cc32aa3df4b62 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -46,6 +46,8 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref ### Node Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json") }} + This implementation inherits `pointcloud_preprocessor::Filter` class, please refer [README](../README.md). ### Core Parameters diff --git a/sensing/pointcloud_preprocessor/docs/passthrough-filter.md b/sensing/pointcloud_preprocessor/docs/passthrough-filter.md index 4d28f08da28cc..6b9e129021e75 100644 --- a/sensing/pointcloud_preprocessor/docs/passthrough-filter.md +++ b/sensing/pointcloud_preprocessor/docs/passthrough-filter.md @@ -25,6 +25,8 @@ The `passthrough_filter` is a node that removes points on the outside of a range ### Core Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json") }} + | Name | Type | Default Value | Description | | ----------------------- | ------ | ------------- | ------------------------------------------------------ | | `filter_limit_min` | int | 0 | minimum allowed field value | diff --git a/sensing/pointcloud_preprocessor/docs/pointcloud-accumulator.md b/sensing/pointcloud_preprocessor/docs/pointcloud-accumulator.md index d9fa56ca9c995..a76df48803cbb 100644 --- a/sensing/pointcloud_preprocessor/docs/pointcloud-accumulator.md +++ b/sensing/pointcloud_preprocessor/docs/pointcloud-accumulator.md @@ -24,6 +24,8 @@ The `pointcloud_accumulator` is a node that accumulates pointclouds for a given ### Core Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json") }} + | Name | Type | Default Value | Description | | ------------------------ | ------ | ------------- | ----------------------- | | `accumulation_time_sec` | double | 2.0 | accumulation period [s] | diff --git a/sensing/pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md index 19d5c348afff5..ba22d2312d4a1 100644 --- a/sensing/pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md @@ -24,6 +24,8 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref ### Core Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/radius_search_2d_outlier_filter.schema.json") }} + | Name | Type | Description | | --------------- | ------ | ------------------------------------------------------------------------------------------------------------------------ | | `min_neighbors` | int | If points in the circle centered on reference point is less than `min_neighbors`, a reference point is judged as outlier | diff --git a/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md index e87023ef00149..ddad51998dcd3 100644 --- a/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md @@ -56,6 +56,8 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref ### Core Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json") }} + | Name | Type | Default Value | Description | | ---------------------------- | ------- | ------------- | ----------------------------------------------------------------------------------------------------------------------------- | | `distance_ratio` | double | 1.03 | | diff --git a/sensing/pointcloud_preprocessor/docs/vector-map-filter.md b/sensing/pointcloud_preprocessor/docs/vector-map-filter.md index c38a4c719fcf3..52623e42c7f06 100644 --- a/sensing/pointcloud_preprocessor/docs/vector-map-filter.md +++ b/sensing/pointcloud_preprocessor/docs/vector-map-filter.md @@ -23,6 +23,8 @@ The `vector_map_filter` is a node that removes points on the outside of lane by ## Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json") }} + ### Core Parameters | Name | Type | Default Value | Description | diff --git a/sensing/pointcloud_preprocessor/docs/vector-map-inside-area-filter.md b/sensing/pointcloud_preprocessor/docs/vector-map-inside-area-filter.md index 8e31dfb203d2b..b7e05c91354c0 100644 --- a/sensing/pointcloud_preprocessor/docs/vector-map-inside-area-filter.md +++ b/sensing/pointcloud_preprocessor/docs/vector-map-inside-area-filter.md @@ -33,6 +33,8 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, so please ### Core Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json") }} + | Name | Type | Description | | -------------- | ------ | --------------------------- | | `polygon_type` | string | polygon type to be filtered | diff --git a/sensing/pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md index 0c1905e810fec..2e06027671a8d 100644 --- a/sensing/pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md @@ -23,6 +23,8 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref ### Core Parameters +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json") }} + | Name | Type | Default Value | Description | | ------------------------ | ------ | ------------- | ------------------------------------------ | | `voxel_size_x` | double | 0.3 | the voxel size along x-axis [m] | diff --git a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml index 6444e1058c379..200b2cea44f69 100644 --- a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml b/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml index acb7f50a23d47..6d1aa1f906828 100644 --- a/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml @@ -1,19 +1,11 @@ - - - - - - + + - - - - diff --git a/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml new file mode 100644 index 0000000000000..67d23a150b6ee --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml b/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml deleted file mode 100644 index c002a009db5c7..0000000000000 --- a/sensing/pointcloud_preprocessor/launch/distortion_corrector.launch.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml index 734c51121ed6a..a0fe1d7ef94c4 100644 --- a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml @@ -3,19 +3,13 @@ - - - - - + + - - - diff --git a/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml index eeeda4508fac0..dafd5c283b072 100644 --- a/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml index 1abcc79816fc8..83f46e2a4c482 100644 --- a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml index 75d15c9b44c27..eebb98ffc575c 100644 --- a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml index 83a7a018d3489..b15b4bb12e37d 100644 --- a/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml index 419f7af133189..a844b3f10a46a 100644 --- a/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml @@ -1,15 +1,13 @@ - - - + + - diff --git a/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml index 41f6e24a3966b..16f2b714379ce 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml index 299d45f23f27a..e09883a2c1378 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml @@ -2,22 +2,14 @@ - - - - - - + + - - - - diff --git a/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml index bad52bb580a6f..638c8d924844f 100644 --- a/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml @@ -1,8 +1,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml index 1bb269cda9079..6a98f85b8edd9 100644 --- a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml index a60f403c99f55..240786771f0de 100644 --- a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json index f7b10ee304bb8..5590f3ab2eef3 100644 --- a/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json @@ -8,17 +8,17 @@ "properties": { "voxel_size_x": { "type": "number", - "description": "voxel size x [m]", + "description": "the voxel size along x-axis [m]", "default": "0.3" }, "voxel_size_y": { "type": "number", - "description": "voxel size y [m]", + "description": "the voxel size along y-axis [m]", "default": "0.3" }, "voxel_size_z": { "type": "number", - "description": "voxel size z [m]", + "description": "the voxel size along z-axis [m]", "default": "0.1" } }, diff --git a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json index d2c06d057e8b6..567b99ea5fad4 100644 --- a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json +++ b/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json @@ -17,12 +17,12 @@ "default": "50" }, "blockage_buffering_frames": { - "type": "number", + "type": "integer", "description": "The number of buffering about blockage detection [range:1-200]", "default": "2" }, "blockage_buffering_interval": { - "type": "number", + "type": "integer", "description": "The interval of buffering about blockage detection", "default": "1" }, @@ -42,22 +42,22 @@ "default": "0.2" }, "dust_count_threshold": { - "type": "number", + "type": "integer", "description": "The threshold of number continuous frames include dusty area", "default": "10" }, "dust_kernel_size": { - "type": "number", + "type": "integer", "description": "The kernel size of morphology processing in dusty area detection", "default": "2" }, "dust_buffering_frames": { - "type": "number", + "type": "integer", "description": "The number of buffering about dusty area detection [range:1-200]", "default": "10" }, "dust_buffering_interval": { - "type": "number", + "type": "integer", "description": "The interval of buffering about dusty area detection", "default": "1" }, @@ -72,9 +72,35 @@ "default": "0.4" }, "blockage_kernel": { - "type": "number", + "type": "integer", "description": "The kernel size of morphology processing the detected blockage area", "default": "10" + }, + "angle_range": { + "type": "array", + "description": "The effective range of LiDAR", + "minItems": 2, + "maxItems": 2, + "items": { + "type": "number", + "minimum": 0.0, + "maximum": 360.0 + } + }, + "vertical_bins": { + "type": "integer", + "description": "The LiDAR channel", + "default": "40" + }, + "is_channel_order_top2down": { + "type": "boolean", + "description": "If the lidar channels are indexed from top to down", + "default": "true" + }, + "horizontal_ring_id": { + "type": "integer", + "description": "The id of horizontal ring of the LiDAR", + "default": "18" } }, "required": [ @@ -91,7 +117,11 @@ "dust_buffering_interval", "max_distance_range", "horizontal_resolution", - "blockage_kernel" + "blockage_kernel", + "angle_range", + "vertical_bins", + "is_channel_order_top2down", + "horizontal_ring_id" ], "additionalProperties": false } diff --git a/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json b/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json deleted file mode 100644 index bb1d86bd9e783..0000000000000 --- a/sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "Parameter for distortion corrector", - "type": "object", - "definitions": { - "distortion_corrector": { - "type": "object", - "properties": { - "time_stamp_field_name": { - "type": "string", - "description": "time stamp field name", - "default": "time_stamp" - }, - "use_imu": { - "type": "boolean", - "description": "use gyroscope for yaw rate if true, else use vehicle status", - "default": "true" - } - }, - "required": ["time_stamp_field_name", "use_imu"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/distortion_corrector" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false -} diff --git a/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json index 4c8f7641d367b..726b0eac07624 100644 --- a/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json @@ -8,72 +8,72 @@ "properties": { "x_max": { "type": "number", - "description": "max distance on x", + "description": "Maximum of x for `Fixed_xyz_ROI` mode", "default": "18.0" }, "x_min": { "type": "number", - "description": "min distance on x", + "description": "Minimum of x for `Fixed_xyz_ROI` mode", "default": "-12.0" }, "y_max": { "type": "number", - "description": "max distance on y", + "description": "Maximum of y for `Fixed_xyz_ROI` mode", "default": "2.0" }, "y_min": { "type": "number", - "description": "min distance on y", + "description": "Minimum of y for `Fixed_xyz_ROI` mode", "default": "-2.0" }, "z_max": { "type": "number", - "description": "max distance on z", + "description": "Maximum of z for `Fixed_xyz_ROI` mode", "default": "10.0" }, "z_min": { "type": "number", - "description": "min distance on z", + "description": "Minimum of z for `Fixed_xyz_ROI` mode", "default": "0.0" }, "min_azimuth_deg": { "type": "number", - "description": "minium azimuth degree", + "description": "The left limit of azimuth for `Fixed_azimuth_ROI` mode", "default": "135.0" }, "max_azimuth_deg": { "type": "number", - "description": "maximum azimuth degree", + "description": "The right limit of azimuth for `Fixed_azimuth_ROI` mode", "default": "225.0" }, "max_distance": { "type": "number", - "description": "maximum distance", + "description": "The limit distance for for `Fixed_azimuth_ROI` mode", "default": "12.0" }, "vertical_bins": { - "type": "number", - "description": "vertical bins", + "type": "integer", + "description": "The number of vertical bin for visibility histogram", "default": "128" }, "max_azimuth_diff": { "type": "number", - "description": "max azimuth diff", + "description": "Threshold for ring_outlier_filter", "default": "50" }, "weak_first_distance_ratio": { "type": "number", - "description": "weak first distance ratio", + "description": "Threshold for ring_outlier_filter", "default": "1.004" }, "general_distance_ratio": { "type": "number", - "description": "general distance ratio", + "description": "Threshold for ring_outlier_filter", "default": "1.03" }, "weak_first_local_noise_threshold": { - "type": "number", - "description": "weak first local noise threshold", + "type": "integer", + "description": "The parameter for determining whether it is noise", "default": "2" }, "roi_mode": { @@ -83,12 +83,12 @@ }, "visibility_error_threshold": { "type": "number", - "description": "visibility error threshold", + "description": "When the percentage of white pixels in the binary histogram falls below this parameter the diagnostic status becomes ERR", "default": "0.5" }, "visibility_warn_threshold": { "type": "number", - "description": "visibility warn threshold", + "description": "When the percentage of white pixels in the binary histogram falls below this parameter the diagnostic status becomes WARN", "default": "0.7" } }, diff --git a/sensing/pointcloud_preprocessor/schema/filter.schema.json b/sensing/pointcloud_preprocessor/schema/filter.schema.json index 1c77e63085981..f73d721bbffc5 100644 --- a/sensing/pointcloud_preprocessor/schema/filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/filter.schema.json @@ -16,10 +16,11 @@ "description": "output frame id", "default": "" }, - "max_queue_size": { - "type": "number", - "description": "max queue size of input/output topics", - "default": 5 + "max_queue_size": { + "type": "integer", + "minimum": 0, + "description": "max queue size of input/output topics", + "default": 5 }, "use_indices": { "type": "boolean", @@ -33,7 +34,7 @@ }, "approximate_sync": { "type": "boolean", - "description": "lag to use approximate sync option", + "description": "flag to use approximate sync option", "default": false } }, diff --git a/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json b/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json index 2510b7fae4b28..d205509c2541f 100644 --- a/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json @@ -7,12 +7,12 @@ "type": "object", "properties": { "filter_limit_min": { - "type": "number", + "type": "integer", "description": "minimum allowed field value", "default": "0" }, "filter_limit_max": { - "type": "number", + "type": "integer", "description": "maximum allowed field value", "default": "127" }, diff --git a/sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json b/sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json new file mode 100644 index 0000000000000..305e36f21a7b3 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json @@ -0,0 +1,39 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameter for pointcloud accumulator", + "type": "object", + "definitions": { + "pointcloud_accumulator": { + "type": "object", + "properties": { + "accumulation_time_sec": { + "type": "number", + "description": "accumulation period [s]", + "default": "2.0" + }, + "pointcloud_buffer_size": { + "type": "integer", + "description": "buffer size", + "default": "50" + } + }, + "required": ["accumulation_time_sec", "pointcloud_buffer_size"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/approximate_downsample_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false + } + \ No newline at end of file diff --git a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json index 569bf79749a6f..59cfa72d2e215 100644 --- a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json @@ -6,11 +6,12 @@ "random_downsample_filter": { "type": "object", "properties": { - "sample_num": { - "type": "number", - "description": "number of indices to be sampled", - "default": "1500" - } + "sample_num": { + "type": "integer", + "minimum": 0, + "description": "number of indices to be sampled", + "default": "1500" + } }, "required": ["sample_num"], "additionalProperties": false diff --git a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json index 1549d7adcdce1..b7931986b47d3 100644 --- a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json @@ -17,20 +17,22 @@ "default": "0.1" }, "num_points_threshold": { - "type": "number", + "type": "integer", "description": "num_points_threshold", "default": "4" }, "max_rings_num": { - "type": "number", - "description": "max_rings_num", - "default": "128" - }, - "max_points_num_per_ring": { - "type": "number", - "description": "Set this value large enough such that HFoV / resolution < max_points_num_per_ring", - "default": "4000" + "type": "integer", + "minimum": 1, + "description": "max_rings_num", + "default": "128" }, + "max_points_num_per_ring": { + "type": "integer", + "minimum": 0, + "description": "Set this value large enough such that HFoV / resolution < max_points_num_per_ring", + "default": "4000" + }, "publish_outlier_pointcloud": { "type": "boolean", "description": "Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments.", @@ -52,17 +54,17 @@ "default": "12.0" }, "vertical_bins": { - "type": "number", + "type": "integer", "description": "The number of vertical bin for visibility histogram", "default": "128" }, "horizontal_bins": { - "type": "number", + "type": "integer", "description": "The number of horizontal bin for visibility histogram", "default": "36" }, "noise_threshold": { - "type": "number", + "type": "integer", "description": "The threshold value for distinguishing noise from valid points in the frequency image", "default": "2" } diff --git a/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json b/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json deleted file mode 100644 index 9c98445080dd2..0000000000000 --- a/sensing/pointcloud_preprocessor/schema/ring_passthrough_filter.schema.json +++ /dev/null @@ -1,101 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "Parameter for ring outlier filter", - "type": "object", - "definitions": { - "ring_outlier_filter": { - "type": "object", - "properties": { - "distance_ratio": { - "type": "number", - "description": "distance ratio", - "default": "1.03" - }, - "object_length_threshold": { - "type": "number", - "description": "object length threshold", - "default": "0.1" - }, - "num_points_threshold": { - "type": "integer", - "description": "number points threshold", - "default": "4" - }, - "max_rings_num": { - "type": "integer", - "description": "max rings number", - "default": "128" - }, - "max_points_num_per_ring": { - "type": "integer", - "description": "maximum points number per ring", - "default": "4000" - }, - "publish_outlier_pointcloud": { - "type": "boolean", - "description": "enable publish outlier pointcloud", - "default": "false" - }, - "min_azimuth_deg": { - "type": "number", - "description": "minimu azimuth degree", - "default": "0.0" - }, - "max_azimuth_deg": { - "type": "number", - "description": "maximum azimuth degree", - "default": "360.0" - }, - "max_distance": { - "type": "number", - "description": "maximum distance", - "default": "12.0" - }, - "vertical_bins": { - "type": "integer", - "description": "vertical bins", - "default": "128" - }, - "horizontal_bins": { - "type": "integer", - "description": "horizontal bins", - "default": "36" - }, - "noise_threshold": { - "type": "integer", - "description": "noise threshold", - "default": "2" - } - }, - "required": [ - "distance_ratio", - "object_length_threshold", - "num_points_threshold", - "max_rings_num", - "max_points_num_per_ring", - "publish_outlier_pointcloud", - "min_azimuth_deg", - "max_azimuth_deg", - "max_distance", - "vertical_bins", - "horizontal_bins", - "noise_threshold" - ], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/ring_outlier_filter" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false -} diff --git a/sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json b/sensing/pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/vector_map_insdie_area_filter.schema.json rename to sensing/pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json index 47972b04e2589..6cb35812e5372 100644 --- a/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json @@ -8,17 +8,17 @@ "properties": { "voxel_size_x": { "type": "number", - "description": "voxel size x [m]", + "description": "the voxel size along x-axis [m]", "default": "0.3" }, "voxel_size_y": { "type": "number", - "description": "voxel size y [m]", + "description": "the voxel size along y-axis [m]", "default": "0.3" }, "voxel_size_z": { "type": "number", - "description": "voxel size z [m]", + "description": "the voxel size along z-axis [m]", "default": "0.1" } }, diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json index 043f9b96eee3b..b108e550d9532 100644 --- a/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json @@ -22,7 +22,7 @@ "default": "0.1" }, "voxel_points_threshold": { - "type": "number", + "type": "integer", "description": "the minimum number of points in each voxel", "default": "2" } diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index b022871a2d9ba..a45de33d0d4c7 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -115,7 +115,7 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro publish_synchronized_pointcloud_ = declare_parameter("publish_synchronized_pointcloud"); keep_input_frame_in_synchronized_pointcloud_ = declare_parameter("keep_input_frame_in_synchronized_pointcloud"); - synchronized_pointcloud_postfix_ = declare_parameter("synchronized_pointcloud_postfix"); + synchronized_pointcloud_postfix_ = declare_parameter("synchronized_pointcloud_postfix"); } // Initialize not_subscribed_topic_names_ diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp index ffb4fa1f7da91..87933efb77c31 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp @@ -58,7 +58,7 @@ RandomDownsampleFilterComponent::RandomDownsampleFilterComponent( { // set initial parameters { - sample_num_ = declare_parameter("sample_num"); + sample_num_ = declare_parameter("sample_num"); } using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp index aa12e227165ab..f12945f68b7dc 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp @@ -28,7 +28,7 @@ RadiusSearch2DOutlierFilterComponent::RadiusSearch2DOutlierFilterComponent( { // set initial parameters { - min_neighbors_ = declare_parameter("min_neighbors"); + min_neighbors_ = declare_parameter("min_neighbors"); search_radius_ = declare_parameter("search_radius"); } diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp index 8e38d203269a4..3bc43df2e4557 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp @@ -47,7 +47,7 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions object_length_threshold_ = declare_parameter("object_length_threshold"); num_points_threshold_ = declare_parameter("num_points_threshold"); max_rings_num_ = declare_parameter("max_rings_num"); - max_points_num_per_ring_ = declare_parameter("max_points_num_per_ring"); + max_points_num_per_ring_ = declare_parameter("max_points_num_per_ring"); publish_outlier_pointcloud_ = declare_parameter("publish_outlier_pointcloud"); min_azimuth_deg_ = declare_parameter("min_azimuth_deg"); diff --git a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp index a28415dae2a56..ef46d45d8f3ed 100644 --- a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp @@ -24,7 +24,7 @@ PointcloudAccumulatorComponent::PointcloudAccumulatorComponent(const rclcpp::Nod // set initial parameters { accumulation_time_sec_ = declare_parameter("accumulation_time_sec"); - pointcloud_buffer_.set_capacity(declare_parameter("pointcloud_buffer_size")); + pointcloud_buffer_.set_capacity(declare_parameter("pointcloud_buffer_size")); } using std::placeholders::_1; From 48f858a88457842fd8ca271ed21e958905cc8a0b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Tue, 2 Jul 2024 18:05:25 +0300 Subject: [PATCH 018/306] ci(codecov.yaml): make ci succeed regardless of coverage (#7793) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- codecov.yaml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/codecov.yaml b/codecov.yaml index 8ca2196768dac..a4f3298cd4ab6 100644 --- a/codecov.yaml +++ b/codecov.yaml @@ -1,11 +1,15 @@ +# https://docs.codecov.com/docs/commit-status#project-status + coverage: status: project: default: - target: auto + target: 0% # Make CI always succeed + threshold: 100% # Make CI always succeed patch: default: - target: auto + target: 0% # Make CI always succeed + threshold: 100% # Make CI always succeed comment: show_carryforward_flags: true From e4df5dc74e480cca2654c7052c200300ffb12a32 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 3 Jul 2024 09:21:45 +0900 Subject: [PATCH 019/306] chore(ci): add problem matcher for cppcheck (#7794) * chore(ci): add problem matcher for cppcheck Signed-off-by: Kotaro Yoshimoto * chore(ci): setup problem matcher in cppcheck-differential Signed-off-by: Kotaro Yoshimoto * test(ci): add diff to occur cppcheck errors Signed-off-by: Kotaro Yoshimoto * style(pre-commit): autofix * Revert "test(ci): add diff to occur cppcheck errors " This reverts commit 1c00fd5978bf64957e9d685253ba9ebe1642c196. Signed-off-by: Kotaro Yoshimoto * chore(ci): setup problem matchers cppcheck-daily Signed-off-by: Kotaro Yoshimoto --------- Signed-off-by: Kotaro Yoshimoto Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/cppcheck-problem-matcher.json | 16 ++++++++++++++++ .github/workflows/cppcheck-daily.yaml | 1 + .github/workflows/cppcheck-differential.yaml | 4 ++++ 3 files changed, 21 insertions(+) create mode 100644 .github/cppcheck-problem-matcher.json diff --git a/.github/cppcheck-problem-matcher.json b/.github/cppcheck-problem-matcher.json new file mode 100644 index 0000000000000..3b18feccd9bd2 --- /dev/null +++ b/.github/cppcheck-problem-matcher.json @@ -0,0 +1,16 @@ +{ + "problemMatcher": [ + { + "owner": "cppcheck", + "pattern": [ + { + "regexp": "^([^:]+):(\\d+):(\\d*):\\s(style|portability|performance|warning|error):\\s(.*)$", + "file": 1, + "line": 2, + "column": 3, + "message": 5 + } + ] + } + ] +} diff --git a/.github/workflows/cppcheck-daily.yaml b/.github/workflows/cppcheck-daily.yaml index 34779b586bd6e..6defc8de4894a 100644 --- a/.github/workflows/cppcheck-daily.yaml +++ b/.github/workflows/cppcheck-daily.yaml @@ -18,6 +18,7 @@ jobs: run: | sudo snap install cppcheck + # cspell: ignore suppr - name: Run Cppcheck on all files continue-on-error: true id: cppcheck diff --git a/.github/workflows/cppcheck-differential.yaml b/.github/workflows/cppcheck-differential.yaml index d34247dcef24e..90fae29730afb 100644 --- a/.github/workflows/cppcheck-differential.yaml +++ b/.github/workflows/cppcheck-differential.yaml @@ -53,6 +53,7 @@ jobs: done echo "full-paths=$paths" >> $GITHUB_OUTPUT + # cspell: ignore suppr - name: Run Cppcheck on modified packages if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} continue-on-error: true @@ -62,6 +63,9 @@ jobs: cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions --inline-suppr ${{ steps.get-full-paths.outputs.full-paths }} 2> cppcheck-report.txt shell: bash + - name: Setup Problem Matchers for cppcheck + run: echo "::add-matcher::.github/cppcheck-problem-matcher.json" + - name: Show cppcheck-report result if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} run: | From 69bcf9bc1dfa5de9873516d3f2b013700dd69847 Mon Sep 17 00:00:00 2001 From: atsushi yano <55824710+atsushi421@users.noreply.github.com> Date: Wed, 3 Jul 2024 00:42:50 +0000 Subject: [PATCH 020/306] fix(faster_voxel_grid_downsample_filter): typo in if statement in get_min_max_voxel() (#7796) fix if condition in get_min_max_voxel() Signed-off-by: atsushi421 --- .../downsample_filter/faster_voxel_grid_downsample_filter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp index 9c07a4ec47cba..0ca28f5f9a455 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp @@ -107,7 +107,7 @@ bool FasterVoxelGridDownsampleFilter::get_min_max_voxel( for (size_t global_offset = 0; global_offset + input->point_step <= input->data.size(); global_offset += input->point_step) { Eigen::Vector4f point = get_point_from_global_offset(input, global_offset); - if (std::isfinite(point[0]) && std::isfinite(point[1]), std::isfinite(point[2])) { + if (std::isfinite(point[0]) && std::isfinite(point[1]) && std::isfinite(point[2])) { min_point = min_point.cwiseMin(point.head<3>()); max_point = max_point.cwiseMax(point.head<3>()); } From 998a30bd8663b9d82e4646567ffd134fc948e520 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Wed, 3 Jul 2024 09:46:26 +0900 Subject: [PATCH 021/306] feat(autoware_behavior_path_planner): remove max_module_size param (#7764) * feat(behavior_path_planner): remove max_module_size param The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../config/scene_module_manager.param.yaml | 11 ----------- .../docs/behavior_path_planner_manager_design.md | 2 -- .../interface/scene_module_manager_interface.hpp | 12 ++++++++++-- .../behavior_path_planner_common/parameters.hpp | 1 - 4 files changed, 10 insertions(+), 16 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml index 6cf8719b2ef83..ef6cb82d1412a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml @@ -9,7 +9,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: false priority: 6 - max_module_size: 1 external_request_lane_change_right: enable_rtc: false @@ -17,7 +16,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: false priority: 6 - max_module_size: 1 lane_change_left: enable_rtc: false @@ -25,7 +23,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: false priority: 5 - max_module_size: 1 lane_change_right: enable_rtc: false @@ -33,7 +30,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: false priority: 5 - max_module_size: 1 start_planner: enable_rtc: false @@ -41,7 +37,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 0 - max_module_size: 1 side_shift: enable_rtc: false @@ -49,7 +44,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 2 - max_module_size: 1 goal_planner: enable_rtc: false @@ -57,7 +51,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: true priority: 1 - max_module_size: 1 static_obstacle_avoidance: enable_rtc: false @@ -65,7 +58,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 4 - max_module_size: 1 avoidance_by_lane_change: enable_rtc: false @@ -73,7 +65,6 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 3 - max_module_size: 1 dynamic_obstacle_avoidance: enable_rtc: false @@ -81,7 +72,6 @@ enable_simultaneous_execution_as_candidate_module: true keep_last: false priority: 7 - max_module_size: 1 sampling_planner: enable_module: true @@ -90,4 +80,3 @@ enable_simultaneous_execution_as_candidate_module: false keep_last: true priority: 16 - max_module_size: 1 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md index 5ffdcafdb2497..09627d2d5d91e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md @@ -88,7 +88,6 @@ struct ModuleConfigParameters bool enable_simultaneous_execution_as_approved_module{false}; bool enable_simultaneous_execution_as_candidate_module{false}; uint8_t priority{0}; - uint8_t max_module_size{0}; }; ``` @@ -101,7 +100,6 @@ Code is [here](https://github.com/autowarefoundation/autoware.universe/blob/b173 | `enable_simultaneous_execution_as_candidate_module` | bool | if true, the manager allows its scene modules to run with other scene modules as **candidate module**. | | `enable_simultaneous_execution_as_approved_module` | bool | if true, the manager allows its scene modules to run with other scene modules as **approved module**. | | `priority` | uint8_t | the manager decides execution priority based on this parameter. The smaller the number is, the higher the priority is. | -| `max_module_size` | uint8_t | the sub-manager can run some modules simultaneously. this parameter set the maximum number of the launched modules. | ### Scene modules diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index 5b9c0389e29c5..fab9a6ba45113 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -205,7 +205,16 @@ class SceneModuleManagerInterface }); } - bool canLaunchNewModule() const { return observers_.size() < config_.max_module_size; } + /** + * Determine if a new module can be launched. It ensures that only one instance of a particular + * scene module type is registered at a time. + * + * When this returns true: + * - A new instance of the scene module can be launched. + * - No other instance of the same name of scene module is currently active or registered. + * + */ + bool canLaunchNewModule() const { return observers_.empty(); } /** * Determine if the module is always executable, regardless of the state of other modules. @@ -290,7 +299,6 @@ class SceneModuleManagerInterface *node, ns + "enable_simultaneous_execution_as_candidate_module"); config_.keep_last = getOrDeclareParameter(*node, ns + "keep_last"); config_.priority = getOrDeclareParameter(*node, ns + "priority"); - config_.max_module_size = getOrDeclareParameter(*node, ns + "max_module_size"); } // init rtc configuration diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp index bbc249f5a0daf..a45e8366f45d8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp @@ -25,7 +25,6 @@ struct ModuleConfigParameters bool enable_simultaneous_execution_as_candidate_module{false}; bool keep_last{false}; uint8_t priority{0}; - uint8_t max_module_size{0}; }; struct BehaviorPathPlannerParameters From 38b5e246b57d0428cfd43b628a73c1366ec93c51 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 3 Jul 2024 10:19:09 +0900 Subject: [PATCH 022/306] fix(lidar_apollo_segmentation_tvm): add virtual destructor to lidar_apollo_segmentation_tvm (#7762) * fix(lidar_apollo_segmentation_tvm): add virtual destructor to lidar_apollo_segmentation_tvm Signed-off-by: Y.Hisaki * small change Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- .../lidar_apollo_segmentation_tvm/feature_generator.hpp | 2 -- .../include/lidar_apollo_segmentation_tvm/feature_map.hpp | 3 ++- .../lidar_apollo_segmentation_tvm.hpp | 5 ----- .../src/feature_generator.cpp | 5 +---- .../src/lidar_apollo_segmentation_tvm.cpp | 7 +------ 5 files changed, 4 insertions(+), 18 deletions(-) diff --git a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_generator.hpp b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_generator.hpp index 5cecda966d198..84cf7957d2e7e 100644 --- a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_generator.hpp +++ b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_generator.hpp @@ -37,8 +37,6 @@ namespace lidar_apollo_segmentation_tvm class LIDAR_APOLLO_SEGMENTATION_TVM_LOCAL FeatureGenerator { private: - const bool use_intensity_feature_; - const bool use_constant_feature_; const float min_height_; const float max_height_; std::shared_ptr map_ptr_; diff --git a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_map.hpp b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_map.hpp index 349dfc7f1f0ad..f78f11c8aed56 100644 --- a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_map.hpp +++ b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_map.hpp @@ -15,7 +15,7 @@ #ifndef LIDAR_APOLLO_SEGMENTATION_TVM__FEATURE_MAP_HPP_ #define LIDAR_APOLLO_SEGMENTATION_TVM__FEATURE_MAP_HPP_ -#include +#include #include namespace autoware @@ -45,6 +45,7 @@ struct FeatureMapInterface virtual void initializeMap(std::vector & map) = 0; virtual void resetMap(std::vector & map) = 0; explicit FeatureMapInterface(int32_t _channels, int32_t _width, int32_t _height, int32_t _range); + virtual ~FeatureMapInterface() {} }; /// \brief FeatureMap with no extra feature channels. diff --git a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp index 7f8c5f51f73a6..044f319c4d335 100644 --- a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp +++ b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp @@ -164,12 +164,7 @@ class LIDAR_APOLLO_SEGMENTATION_TVM_PUBLIC ApolloLidarSegmentation tvm_utility::Version version_check() const; private: - const int32_t range_; - const float score_threshold_; const float z_offset_; - const float objectness_thresh_; - const int32_t min_pts_num_; - const float height_thresh_; const pcl::PointCloud::Ptr pcl_pointcloud_ptr_; // Earliest supported model version. const std::array model_version_from{2, 0, 0}; diff --git a/perception/lidar_apollo_segmentation_tvm/src/feature_generator.cpp b/perception/lidar_apollo_segmentation_tvm/src/feature_generator.cpp index edf8276065163..fd038efc60ffb 100644 --- a/perception/lidar_apollo_segmentation_tvm/src/feature_generator.cpp +++ b/perception/lidar_apollo_segmentation_tvm/src/feature_generator.cpp @@ -35,10 +35,7 @@ inline float normalizeIntensity(float intensity) FeatureGenerator::FeatureGenerator( const int32_t width, const int32_t height, const int32_t range, const bool use_intensity_feature, const bool use_constant_feature, const float min_height, const float max_height) -: use_intensity_feature_(use_intensity_feature), - use_constant_feature_(use_constant_feature), - min_height_(min_height), - max_height_(max_height) +: min_height_(min_height), max_height_(max_height) { // select feature map type if (use_constant_feature && use_intensity_feature) { diff --git a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp index e78cd57b3a4a1..9d41770eb5331 100644 --- a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp +++ b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp @@ -109,12 +109,7 @@ ApolloLidarSegmentation::ApolloLidarSegmentation( int32_t range, float score_threshold, bool use_intensity_feature, bool use_constant_feature, float z_offset, float min_height, float max_height, float objectness_thresh, int32_t min_pts_num, float height_thresh, const std::string & data_path) -: range_(range), - score_threshold_(score_threshold), - z_offset_(z_offset), - objectness_thresh_(objectness_thresh), - min_pts_num_(min_pts_num), - height_thresh_(height_thresh), +: z_offset_(z_offset), pcl_pointcloud_ptr_(new pcl::PointCloud), PreP(std::make_shared( config, range, use_intensity_feature, use_constant_feature, min_height, max_height)), From de3d511f986af7d4a1db275e1aa7d805105d5b0b Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 3 Jul 2024 10:20:03 +0900 Subject: [PATCH 023/306] fix(detected_object_validation): add virtual destructor to obstacle_pointcloud_based_validator (#7761) fix(obstacle_pointcloud_based_validator): add virtual destructor to obstacle_pointcloud_based_validator Signed-off-by: Y.Hisaki --- .../obstacle_pointcloud_based_validator/debugger.hpp | 3 --- .../obstacle_pointcloud_based_validator.hpp | 2 ++ 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp index afb1f8a729567..d338580d95418 100644 --- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp +++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp @@ -24,9 +24,6 @@ #include #include -#include -#include - namespace obstacle_pointcloud_based_validator { class Debugger diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp index 47685dec7dbdc..a16bb63fd0c87 100644 --- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp +++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp @@ -75,6 +75,8 @@ class Validator const autoware_perception_msgs::msg::DetectedObject & object) = 0; size_t getThresholdPointCloud(const autoware_perception_msgs::msg::DetectedObject & object); virtual pcl::PointCloud::Ptr getDebugNeighborPointCloud() = 0; + + virtual ~Validator() = default; }; class Validator2D : public Validator From 6cffcccc451a96193ee333a92c0199a679c14f4e Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 3 Jul 2024 03:20:18 +0200 Subject: [PATCH 024/306] refactor(livox_tag_filter): prefix package and namespace with autoware (#7788) Signed-off-by: Esteve Fernandez --- .../autoware_livox_tag_filter/CMakeLists.txt | 26 +++++++++++++++++++ .../README.md | 0 .../config/livox_tag_filter.param.yaml | 0 .../launch/livox_tag_filter.launch.xml | 4 +-- .../package.xml | 4 +-- .../schema/livox_tag_filter.schema.json | 0 .../src}/livox_tag_filter_node.cpp | 8 +++--- .../src}/livox_tag_filter_node.hpp | 10 +++---- sensing/livox/livox_tag_filter/CMakeLists.txt | 25 ------------------ 9 files changed, 39 insertions(+), 38 deletions(-) create mode 100644 sensing/livox/autoware_livox_tag_filter/CMakeLists.txt rename sensing/livox/{livox_tag_filter => autoware_livox_tag_filter}/README.md (100%) rename sensing/livox/{livox_tag_filter => autoware_livox_tag_filter}/config/livox_tag_filter.param.yaml (100%) rename sensing/livox/{livox_tag_filter => autoware_livox_tag_filter}/launch/livox_tag_filter.launch.xml (52%) rename sensing/livox/{livox_tag_filter => autoware_livox_tag_filter}/package.xml (88%) rename sensing/livox/{livox_tag_filter => autoware_livox_tag_filter}/schema/livox_tag_filter.schema.json (100%) rename sensing/livox/{livox_tag_filter/src/livox_tag_filter_node => autoware_livox_tag_filter/src}/livox_tag_filter_node.cpp (92%) rename sensing/livox/{livox_tag_filter/include/livox_tag_filter => autoware_livox_tag_filter/src}/livox_tag_filter_node.hpp (84%) delete mode 100644 sensing/livox/livox_tag_filter/CMakeLists.txt diff --git a/sensing/livox/autoware_livox_tag_filter/CMakeLists.txt b/sensing/livox/autoware_livox_tag_filter/CMakeLists.txt new file mode 100644 index 0000000000000..00f7693c58b18 --- /dev/null +++ b/sensing/livox/autoware_livox_tag_filter/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_livox_tag_filter) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(PCL REQUIRED) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/livox_tag_filter_node.cpp + src/livox_tag_filter_node.hpp +) + +target_link_libraries(${PROJECT_NAME} + ${PCL_LIBRARIES} +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::livox_tag_filter::LivoxTagFilterNode" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/sensing/livox/livox_tag_filter/README.md b/sensing/livox/autoware_livox_tag_filter/README.md similarity index 100% rename from sensing/livox/livox_tag_filter/README.md rename to sensing/livox/autoware_livox_tag_filter/README.md diff --git a/sensing/livox/livox_tag_filter/config/livox_tag_filter.param.yaml b/sensing/livox/autoware_livox_tag_filter/config/livox_tag_filter.param.yaml similarity index 100% rename from sensing/livox/livox_tag_filter/config/livox_tag_filter.param.yaml rename to sensing/livox/autoware_livox_tag_filter/config/livox_tag_filter.param.yaml diff --git a/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml b/sensing/livox/autoware_livox_tag_filter/launch/livox_tag_filter.launch.xml similarity index 52% rename from sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml rename to sensing/livox/autoware_livox_tag_filter/launch/livox_tag_filter.launch.xml index 331db891358f7..9b3fa9bcbcaf8 100644 --- a/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml +++ b/sensing/livox/autoware_livox_tag_filter/launch/livox_tag_filter.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/sensing/livox/livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml similarity index 88% rename from sensing/livox/livox_tag_filter/package.xml rename to sensing/livox/autoware_livox_tag_filter/package.xml index 2b3d429480ef7..e9f588db6479c 100644 --- a/sensing/livox/livox_tag_filter/package.xml +++ b/sensing/livox/autoware_livox_tag_filter/package.xml @@ -1,9 +1,9 @@ - livox_tag_filter + autoware_livox_tag_filter 0.1.0 - The livox_tag_filter package + The autoware_livox_tag_filter package Ryohsuke Mitsudome Kenzo Lobos-Tsunekawa Apache License 2.0 diff --git a/sensing/livox/livox_tag_filter/schema/livox_tag_filter.schema.json b/sensing/livox/autoware_livox_tag_filter/schema/livox_tag_filter.schema.json similarity index 100% rename from sensing/livox/livox_tag_filter/schema/livox_tag_filter.schema.json rename to sensing/livox/autoware_livox_tag_filter/schema/livox_tag_filter.schema.json diff --git a/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp b/sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.cpp similarity index 92% rename from sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp rename to sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.cpp index 9a131db7d3c8e..10da7b931f4ae 100644 --- a/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp +++ b/sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "livox_tag_filter/livox_tag_filter_node.hpp" +#include "livox_tag_filter_node.hpp" #include @@ -34,7 +34,7 @@ POINT_CLOUD_REGISTER_POINT_STRUCT( LivoxPoint, (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)( std::uint8_t, tag, tag)(std::uint8_t, line, line)) -namespace livox_tag_filter +namespace autoware::livox_tag_filter { LivoxTagFilterNode::LivoxTagFilterNode(const rclcpp::NodeOptions & node_options) : Node("livox_tag_filter", node_options) @@ -84,7 +84,7 @@ void LivoxTagFilterNode::onPointCloud(const sensor_msgs::msg::PointCloud2::Const pub_pointcloud_->publish(std::move(tag_filtered_msg_ptr)); } -} // namespace livox_tag_filter +} // namespace autoware::livox_tag_filter #include -RCLCPP_COMPONENTS_REGISTER_NODE(livox_tag_filter::LivoxTagFilterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::livox_tag_filter::LivoxTagFilterNode) diff --git a/sensing/livox/livox_tag_filter/include/livox_tag_filter/livox_tag_filter_node.hpp b/sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.hpp similarity index 84% rename from sensing/livox/livox_tag_filter/include/livox_tag_filter/livox_tag_filter_node.hpp rename to sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.hpp index 8968f61262934..96d80707c3c63 100644 --- a/sensing/livox/livox_tag_filter/include/livox_tag_filter/livox_tag_filter_node.hpp +++ b/sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIVOX_TAG_FILTER__LIVOX_TAG_FILTER_NODE_HPP_ -#define LIVOX_TAG_FILTER__LIVOX_TAG_FILTER_NODE_HPP_ +#ifndef LIVOX_TAG_FILTER_NODE_HPP_ +#define LIVOX_TAG_FILTER_NODE_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace livox_tag_filter +namespace autoware::livox_tag_filter { class LivoxTagFilterNode : public rclcpp::Node { @@ -41,6 +41,6 @@ class LivoxTagFilterNode : public rclcpp::Node // Publisher rclcpp::Publisher::SharedPtr pub_pointcloud_; }; -} // namespace livox_tag_filter +} // namespace autoware::livox_tag_filter -#endif // LIVOX_TAG_FILTER__LIVOX_TAG_FILTER_NODE_HPP_ +#endif // LIVOX_TAG_FILTER_NODE_HPP_ diff --git a/sensing/livox/livox_tag_filter/CMakeLists.txt b/sensing/livox/livox_tag_filter/CMakeLists.txt deleted file mode 100644 index 36c500aefa74d..0000000000000 --- a/sensing/livox/livox_tag_filter/CMakeLists.txt +++ /dev/null @@ -1,25 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(livox_tag_filter) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(PCL REQUIRED) - -ament_auto_add_library(livox_tag_filter SHARED - src/livox_tag_filter_node/livox_tag_filter_node.cpp -) - -target_link_libraries(livox_tag_filter - ${PCL_LIBRARIES} -) - -rclcpp_components_register_node(livox_tag_filter - PLUGIN "livox_tag_filter::LivoxTagFilterNode" - EXECUTABLE livox_tag_filter_node -) - -ament_auto_package(INSTALL_TO_SHARE - launch - config -) From 7a2de7dd5bec1a86f34a33c005c6fd42da452561 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Wed, 3 Jul 2024 11:12:05 +0900 Subject: [PATCH 025/306] chore: updated maintainers for the autoware_point_types package (#7797) Signed-off-by: Kenzo Lobos-Tsunekawa --- common/autoware_point_types/package.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index e05b604e90d13..ef19431d86514 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -4,7 +4,8 @@ autoware_point_types 0.1.0 The point types definition to use point_cloud_msg_wrapper - Taichi Higashide + David Wong + Max Schmeller Apache License 2.0 ament_cmake_core From f58af9e7ac5409b1f85a0e7599982e7561a3892b Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Wed, 3 Jul 2024 11:29:42 +0900 Subject: [PATCH 026/306] fix(ground_segmentation): fix bug (#7771) --- launch/tier4_perception_launch/package.xml | 1 + .../src/ransac_ground_filter_nodelet.cpp | 7 ++++--- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 6ec706a4aad32..57d4b209efeef 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -19,6 +19,7 @@ detected_object_feature_remover detected_object_validation detection_by_tracker + elevation_map_loader euclidean_cluster ground_segmentation image_projection_based_fusion diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp index d7fa777dc58c9..aa224e7adc5bf 100644 --- a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp @@ -292,12 +292,13 @@ void RANSACGroundFilterComponent::filter( no_ground_cloud_msg_ptr->header = input->header; no_ground_cloud_msg_ptr->fields = input->fields; no_ground_cloud_msg_ptr->point_step = point_step; + no_ground_cloud_msg_ptr->data.resize(input->data.size()); size_t output_size = 0; // use not downsampled pointcloud for extract pointcloud that higher than height threshold for (size_t global_size = 0; global_size < input->data.size(); global_size += point_step) { - float x = *reinterpret_cast(input->data[global_size + x_offset]); - float y = *reinterpret_cast(input->data[global_size + y_offset]); - float z = *reinterpret_cast(input->data[global_size + z_offset]); + float x = *reinterpret_cast(&input->data[global_size + x_offset]); + float y = *reinterpret_cast(&input->data[global_size + y_offset]); + float z = *reinterpret_cast(&input->data[global_size + z_offset]); const Eigen::Vector3d transformed_point = plane_affine.inverse() * Eigen::Vector3d(x, y, z); if (std::abs(transformed_point.z()) > height_threshold_) { std::memcpy( From 5e04dae16f86fa298946717f13addc35971d9a7d Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 3 Jul 2024 11:31:44 +0900 Subject: [PATCH 027/306] fix(euclidean_cluster): fix max_cluster_size bug (#7734) Signed-off-by: badai-nguyen --- .../lib/voxel_grid_based_euclidean_cluster.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp index 34c52bb7836b8..126f877afddb0 100644 --- a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp +++ b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp @@ -117,7 +117,7 @@ bool VoxelGridBasedEuclideanCluster::cluster( voxel_grid_.getCentroidIndexAt(voxel_grid_.getGridCoordinates(point.x, point.y, point.z)); if (map.find(index) != map.end()) { auto & cluster_data_size = clusters_data_size.at(map[index]); - if (cluster_data_size + point_step > std::size_t(max_cluster_size_ * point_step)) { + if (cluster_data_size > std::size_t(max_cluster_size_ * point_step)) { continue; } std::memcpy( From 30baa82e1a78cfb4e772878c438219b1c8c6c517 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 3 Jul 2024 12:23:18 +0900 Subject: [PATCH 028/306] test(ground_segmentation): add ransac_ground_filter test and update test pcd file (#7776) * chore(ground_segmentation test): add intensity Signed-off-by: badai-nguyen * chore: add ransac ground segmentation test Signed-off-by: badai-nguyen * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/ground_segmentation/CMakeLists.txt | 7 + .../ground_segmentation/test/data/test.pcd | 131080 +++++++-------- .../test/test_ransac_ground_filter.cpp | 228 + .../test/test_ray_ground_filter.cpp | 50 +- .../test/test_scan_ground_filter.cpp | 45 +- 5 files changed, 65862 insertions(+), 65548 deletions(-) create mode 100644 perception/ground_segmentation/test/test_ransac_ground_filter.cpp diff --git a/perception/ground_segmentation/CMakeLists.txt b/perception/ground_segmentation/CMakeLists.txt index 656ffec486c3c..9531437e80752 100644 --- a/perception/ground_segmentation/CMakeLists.txt +++ b/perception/ground_segmentation/CMakeLists.txt @@ -100,4 +100,11 @@ if(BUILD_TESTING) ground_segmentation ${YAML_CPP_LIBRARIES} ) + ament_add_ros_isolated_gtest(test_ransac_ground_filter + test/test_ransac_ground_filter.cpp + ) + target_link_libraries(test_ransac_ground_filter + ground_segmentation + ${YAML_CPP_LIBRARIES}) + endif() diff --git a/perception/ground_segmentation/test/data/test.pcd b/perception/ground_segmentation/test/data/test.pcd index f9ad91ab980c1..2df8ca09a18f9 100644 --- a/perception/ground_segmentation/test/data/test.pcd +++ b/perception/ground_segmentation/test/data/test.pcd @@ -1,65547 +1,65547 @@ # .PCD v0.7 - Point Cloud Data file format VERSION 0.7 -FIELDS x y z -SIZE 4 4 4 -TYPE F F F -COUNT 1 1 1 +FIELDS x y z intensity +SIZE 4 4 4 4 +TYPE F F F F +COUNT 1 1 1 1 WIDTH 1024 HEIGHT 64 VIEWPOINT 0 0 0 1 0 0 0 POINTS 65536 DATA ascii --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 --0 0 0 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-1.912671 --17.095427 3.0583644 -1.9131175 --17.063635 3.1608498 -1.9116662 --17.028303 3.2624993 -1.9098799 --16.995293 3.364413 -1.9084285 --16.964592 3.4666417 -1.9073122 --16.896328 3.5608337 -1.9019533 --16.872217 3.6640189 -1.9017301 --16.800928 3.7566347 -1.8961478 --16.852133 3.8768058 -1.9047444 --16.747761 3.9611528 -1.895478 --16.659407 4.0483546 -1.8881097 --16.739351 4.1767192 -1.9002787 --16.690304 4.2734361 -1.8975992 --16.588797 4.3560805 -1.8888911 --16.616453 4.4725065 -1.8952547 --16.565704 4.5680394 -1.8925754 --16.550753 4.6733789 -1.8941383 --16.498854 4.7682233 -1.8914589 --16.483582 4.8735948 -1.8931335 --16.435293 4.9691801 -1.8910123 --16.373161 5.0602493 -1.8873281 --16.376867 5.1716895 -1.8914589 --16.345772 5.2723837 -1.8915706 --16.327271 5.3772426 -1.8932452 --16.302448 5.4801731 -1.89425 --16.285435 5.5859032 -1.8962595 --16.249916 5.6853952 -1.8961478 --16.233444 5.7916741 -1.8983808 --16.231222 5.903399 -1.9023999 --16.232899 6.0170407 -1.9069772 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9.4285469 -2.0046642 --15.534387 9.5523863 -2.0108047 --15.500781 9.6632948 -2.014154 --15.461358 9.7709646 -2.0168333 --15.42287 9.8795862 -2.0197361 --15.366127 9.9767389 -2.0202942 --15.307942 10.073021 -2.0207407 --15.258249 10.175029 -2.0224154 --15.192236 10.266234 -2.0219688 --15.148636 10.372733 -2.0246482 --15.100219 10.476251 -2.0267694 --15.040531 10.572135 -2.0274394 --15.007758 10.687281 -2.0319049 --14.970914 10.800095 -2.0359242 --14.921213 10.904063 -2.0382686 --14.897159 11.02734 -2.0442972 --14.843527 11.12927 -2.0463068 --14.789206 11.230955 -2.0483165 --14.760189 11.352386 -2.0540102 --14.707502 11.456174 -2.0564663 --14.656437 11.561587 -2.0592575 --14.589879 11.655022 -2.0599272 --14.559813 11.778073 -2.0659559 --14.517251 11.891747 -2.0703101 --14.476902 12.007879 -2.0751107 --14.428063 12.117572 -2.0787947 --14.367066 12.21746 -2.0808043 --14.31367 12.324188 -2.0840421 --14.267745 12.437902 -2.0885077 --14.221706 12.552175 -2.0930851 --14.154795 12.648471 -2.0946481 --14.104185 12.759751 -2.0987787 --14.042482 12.86149 -2.1013465 --13.9582 12.942681 -2.1005652 --13.865481 13.015841 -2.0985556 --13.724126 13.042486 -2.089066 --13.549309 13.035507 -2.0743291 --13.40215 13.053225 -2.0638347 --13.222028 13.036838 -2.0480931 --13.034878 13.011013 -2.0311236 --12.900274 13.035655 -2.0224154 --12.75683 13.049899 -2.0122559 --12.595062 13.043575 -1.9990822 --12.430425 13.032166 -1.9853501 --12.301842 13.056839 -1.9774235 --12.170041 13.076791 -1.9689387 --12.050566 13.108787 -1.9624635 --11.892411 13.09714 -1.949513 --11.744145 13.094407 -1.9381254 --11.598999 13.093326 -1.9271845 --11.454965 13.091706 -1.9163551 --11.297094 13.072274 -1.9030697 --11.170865 13.087681 -1.8951432 --11.033984 13.089117 -1.8853186 --10.908319 13.102351 -1.8773919 --10.791112 13.124516 -1.8709167 --10.677804 13.150368 -1.8651114 --10.604374 13.224941 -1.866451 --10.547088 13.320144 -1.870805 --10.470667 13.391654 -1.8718098 --10.37919 13.44385 -1.8701352 --10.269997 13.472509 -1.8652229 --10.146501 13.48128 -1.8576313 --10.028027 13.495426 -1.8509327 --9.9191675 13.521448 -1.8460205 --9.8278542 13.570788 -1.8444575 --9.7311077 13.612243 -1.8418897 --9.6210442 13.634346 -1.8367542 --9.5133495 13.658875 -1.8320652 --9.415287 13.696518 -1.8292741 --9.3232584 13.742518 -1.8277111 --9.2183046 13.768913 -1.8235804 --9.1194038 13.803659 -1.8206776 --9.030736 13.853527 -1.8198961 --8.9364233 13.89447 -1.8179983 --8.836092 13.925547 -1.8148723 --8.7314978 13.949179 -1.8108531 --8.629035 13.975434 -1.8072805 --8.5224447 13.994168 -1.8028148 --8.4072514 13.997641 -1.7964512 --8.3100634 14.030152 -1.7939951 --8.2158003 14.067148 -1.7922088 --8.1273479 14.11385 -1.7917622 --8.051878 14.183329 -1.79433 --7.9884801 14.27496 -1.7998005 --7.8964205 14.315876 -1.7987957 --7.7875471 14.325643 -1.7938834 --7.7117009 14.395931 -1.7967862 --7.6501298 14.493951 -1.8032614 --7.5853519 14.587346 -1.8091785 --7.5124664 14.66634 -1.8133093 --7.4268107 14.721031 -1.8144257 --7.3367863 14.767214 -1.8145373 --7.2486587 14.817309 -1.8152071 --7.1606236 14.867775 -1.8159887 --7.0730934 14.919514 -1.8169935 --6.9885592 14.977942 -1.8188914 --6.897769 15.02325 -1.8192263 --6.7837744 15.017293 -1.8133093 --6.6571999 14.981444 -1.8038197 --6.5659461 15.023831 -1.8040429 --6.4752073 15.067489 -1.8044895 --6.3865008 15.11609 -1.8056059 --6.2951546 15.158663 -1.8060524 --6.1648483 15.105917 -1.795 --6.05688 15.105643 -1.7904226 --5.9575238 15.12588 -1.788413 --5.8635254 15.159369 -1.7880781 --5.7739272 15.204352 -1.7891945 --5.6867747 15.256255 -1.7912041 --5.961421 16.297855 -1.9116662 --5.8478808 16.296713 -1.9072005 --5.7444768 16.322914 -1.9060841 --5.6419439 16.35128 -1.9053025 --5.5424633 16.388414 -1.9056375 --5.4436774 16.427773 -1.9063073 --5.3363328 16.441017 -1.9039629 --5.2272248 16.44788 -1.9009485 --5.1173487 16.451176 -1.8975992 --5.0128374 16.470858 -1.8962595 --4.9091282 16.492735 -1.8952547 --4.8053389 16.513958 -1.89425 --4.7009311 16.532618 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-1.9445394 --7.9549904 0.38703513 -1.9382715 --7.9447136 0.43541273 -1.936343 --7.9748278 0.48616502 -1.9445394 --8.0646534 0.54134172 -1.9676827 --7.6650147 -0.19095019 -1.9540584 --7.6641068 -0.14387852 -1.953555 --7.6648455 -0.09684974 -1.953555 --7.6652951 -0.049817309 -1.953555 --7.6596498 -0.0027805967 -1.9520446 --7.6517806 0.044173885 -1.9500308 --7.6542687 0.091157921 -1.950786 --7.6651769 0.13833088 -1.9538068 --7.6661186 0.18540761 -1.9543102 --7.62711 0.23130038 -1.9444927 --7.6487589 0.27894041 -1.9505342 --7.6353002 0.3253732 -1.9475135 --7.6476598 0.37292269 -1.9512894 --7.6432953 0.41973481 -1.950786 --7.6454058 0.46692002 -1.9520446 --7.6201878 0.51233047 -1.9462547 --7.6159353 0.55900663 -1.9460031 --7.6152563 0.60595679 -1.9467583 --7.6027164 0.65192801 -1.9444927 --7.6053195 0.69918495 -1.9462547 --7.5893278 0.74470359 -1.943234 --7.5923162 0.79205978 -1.9452479 --7.5776939 0.83756775 -1.9427305 --7.5762572 0.88449651 -1.9437375 --7.57549 0.93155724 -1.9449961 --7.5456362 0.97492301 -1.9387028 --7.5519795 1.0228919 -1.9419754 --7.5714335 1.0728754 -1.9487721 --7.5407734 1.1157725 -1.9424788 --7.5529151 1.1649704 -1.9475135 --7.5236464 1.2077652 -1.9417236 --7.5180035 1.2542251 -1.9422271 --7.512073 1.3006613 -1.9427305 --7.497283 1.3455336 -1.9409684 --7.5079165 1.3950458 -1.9460031 --7.4849586 1.4383484 -1.9422271 --7.4664998 1.4823641 -1.9397098 --7.4525228 1.5271785 -1.9384511 --7.4458528 1.5734777 -1.9392062 --7.4388947 1.6197526 -1.9399614 --7.4165392 1.6626148 -1.936689 --7.3929954 1.7050463 -1.9331647 --7.3786273 1.7494839 -1.9321579 --7.3837395 1.7986184 -1.9364372 --7.3519087 1.8387254 -1.9308991 --7.377985 1.8934222 -1.9409684 --7.3381505 1.9312689 -1.9334165 --7.2971954 1.9684464 -1.9256128 --7.315764 2.0216894 -1.9339199 --7.2845964 2.061271 -1.9288853 --7.2178941 2.090318 -1.9142848 --7.2671041 2.1529827 -1.9311509 --7.2222648 2.1879935 -1.922592 --7.2087035 2.2322671 -1.922592 --7.2114801 2.2817111 -1.9271232 --7.1605072 2.3140149 -1.9170539 --7.1645555 2.3639712 -1.9220885 --7.1957755 2.4233294 -1.9346751 --7.1670413 2.4627194 -1.9308991 --7.1326156 2.4999278 -1.9256128 --7.114408 2.5426686 -1.9248576 --7.1014004 2.5872676 -1.9256128 --7.0844841 2.6304555 -1.925361 --7.033813 2.6608651 -1.9157952 --7.0218692 2.7057133 -1.9170539 --7.0384698 2.761826 -1.926368 --7.0213909 2.8049612 -1.926368 --6.9771519 2.8370559 -1.9188161 --6.9953837 2.894613 -1.9288853 --6.9346757 2.9194589 -1.9168022 --6.9397631 2.9718587 -1.9233472 --6.9347072 3.0201802 -1.9271232 --6.8974614 3.0544455 -1.9218369 --6.8882976 3.1010797 -1.9246058 --6.8506589 3.1348314 -1.9193195 --6.8391929 3.1804798 -1.9215851 --6.8037982 3.2149427 -1.9170539 --6.7821989 3.2557919 -1.9165505 --6.733387 3.2833493 -1.9082433 --6.7599478 3.3477936 -1.9218369 --6.7012343 3.3700788 -1.9107606 --6.7071505 3.4247754 -1.9185643 --6.6997581 3.472991 -1.922592 --6.6757526 3.5126827 -1.9218369 --6.6412678 3.5467403 -1.9180609 --6.6108718 3.5828125 -1.9155436 --6.5904593 3.6242414 -1.916047 --6.5520391 3.655653 -1.9112641 --6.5193782 3.6900666 -1.9082433 --6.4907384 3.7266264 -1.9064811 --6.4869862 3.7775831 -1.912271 --6.4811854 3.8276494 -1.9175574 --6.4509349 3.8633676 -1.9155436 --6.4254537 3.9018724 -1.91504 --6.4055123 3.9437616 -1.9162987 --6.3902245 3.9886272 -1.9190677 --6.350091 4.0179305 -1.9142848 --6.3016925 4.0416679 -1.9069847 --6.2832661 4.0844774 -1.9089985 --6.2435384 4.1133709 -1.9044673 --6.2423291 4.1677237 -1.9120193 --6.2022099 4.1961865 -1.9074881 --6.1308451 4.2029738 -1.8931395 --6.1287875 4.2570753 -1.9006914 --6.1096745 4.299613 -1.902957 --6.0808134 4.3353348 -1.9022018 --6.0454674 4.3663316 -1.8994327 --6.0013781 4.3907728 -1.8938947 --5.9968734 4.4442234 -1.9011948 --5.9834237 4.4913931 -1.905726 --5.9611459 4.5321221 -1.9074881 --5.9278569 4.5644808 -1.905726 --5.8951592 4.5971971 -1.9042156 --5.8698783 4.6356816 -1.9052225 --5.8345213 4.6661711 -1.902957 --5.8012676 4.6982293 -1.9014466 --5.7738276 4.7349639 -1.90195 --5.7722154 4.7931771 -1.9112641 --5.7182503 4.8079524 -1.902957 --5.6982222 4.8511033 -1.9062295 --5.6639504 4.882185 -1.9047191 --5.6287832 4.9123921 -1.902957 --5.587656 4.9372253 -1.899181 --5.5673552 4.9804506 -1.9027052 --5.5158877 4.9956779 -1.8954051 --5.4865575 5.0307369 -1.8959085 --5.4527488 5.0616736 -1.8949015 --5.4441576 5.1162434 -1.902957 --5.4105587 5.1475506 -1.9022018 --5.3558679 5.1584978 -1.8938947 --5.3012471 5.1689692 -1.8855875 --5.2721868 5.2041192 -1.8865944 --5.2292013 5.2254257 -1.8825667 --5.2018032 5.2622309 -1.8843288 --5.2126923 5.3383632 -1.9004396 --5.1825261 5.3730335 -1.9014466 --5.1434517 5.3984256 -1.899181 --5.1002808 5.419313 -1.8954051 --5.0629787 5.4462528 -1.8938947 --5.0851083 5.5378056 -1.9152918 --5.0230732 5.5380797 -1.9044673 --4.9747896 5.5529389 -1.8989292 --4.9406238 5.5833592 -1.8989292 --4.9190106 5.6281424 -1.9039639 --4.8913412 5.6662769 -1.9067329 --4.8432946 5.6807184 -1.9014466 --4.8108411 5.7132902 -1.9024535 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2.1537361 -1.9296532 --6.250176 2.190881 -1.9285131 --6.2492509 2.2337089 -1.9325033 --6.2759519 2.2867856 -1.9453292 --6.2366443 2.3159037 -1.9373487 --6.1945267 2.3436081 -1.9285131 --6.1862903 2.3839867 -1.9305083 --6.191175 2.4296069 -1.9367787 --6.1832709 2.4703958 -1.9390588 --6.17066 2.5093729 -1.9399139 --6.1516042 2.5457213 -1.9387738 --6.140285 2.5852795 -1.9401989 --6.1199012 2.6210194 -1.9387738 --6.1001887 2.6569893 -1.9376336 --6.0793891 2.6924279 -1.9362086 --6.0277963 2.713933 -1.9248078 --6.0197453 2.754858 -1.927658 --6.0122881 2.7961905 -1.9307932 --5.9872189 2.8293414 -1.928228 --5.980114 2.8710051 -1.9316483 --5.9684157 2.9105864 -1.9336435 --5.9470086 2.9454508 -1.9325033 --5.9219742 2.9784389 -1.9302232 --5.895905 3.0107946 -1.927658 --5.8679605 3.0420601 -1.9245228 --5.8568177 3.0820267 -1.927088 --5.833569 3.1156468 -1.9256629 --5.8202405 3.1545806 -1.927658 --5.8007751 3.1902335 -1.927658 --5.7861123 3.2285695 -1.9293681 --5.7545166 3.2573991 -1.9253778 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5.1178665 -1.9088467 --4.0649724 5.1399126 -1.9077066 --4.0251002 5.15418 -1.9037164 --3.9852066 5.1681523 -1.8997262 --3.9603865 5.2016606 -1.9031464 --3.9266677 5.2235641 -1.9022913 --3.9059649 5.2629557 -1.9079916 --3.888324 5.3069286 -1.9154022 --3.8714135 5.3524365 -1.9233828 --3.8329303 5.3682885 -1.9205326 --3.7894301 5.3768177 -1.9151171 --3.7476115 5.3873763 -1.9105569 --3.7096033 5.4031572 -1.9079916 --3.6758428 5.4250236 -1.9077066 --3.6478126 5.4554448 -1.9105569 --3.583133 5.4305158 -1.8937408 --3.5638609 5.4740906 -1.9014362 --3.5447063 5.5184388 -1.9094168 --3.5292444 5.5692353 -1.9196775 --3.5011013 5.6005397 -1.9230977 --3.4656653 5.6202846 -1.9225277 --3.4296207 5.6389866 -1.9216726 --3.390027 5.6517034 -1.9188224 --3.3513823 5.6657972 -1.9165423 --3.3160715 5.6854262 -1.9162573 --3.2792132 5.702342 -1.9151171 --3.2474706 5.7281933 -1.9171124 --3.2141318 5.7513585 -1.9182523 --3.1801686 5.7734909 -1.9191074 --3.1391976 5.7827859 -1.9156872 --3.1081755 5.8103914 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--1.6019921 -3.3928933 -1.1203916 --1.6141059 -3.3649113 -1.1141816 --1.6305388 -3.3463559 -1.1112247 --1.648923 -3.3320072 -1.1097461 --1.6701945 -3.323534 -1.1103375 --1.6922922 -3.3166273 -1.1115203 --1.7253503 -3.330781 -1.1200958 --1.7582009 -3.3438077 -1.1283756 --2.1712484 -4.0687418 -1.3865288 --2.1979921 -4.0587029 -1.3877116 --2.638217 -4.8011699 -1.654736 --2.6611152 -4.77321 -1.6505961 --2.7006979 -4.7750854 -1.6571016 --2.7318475 -4.7617388 -1.6582845 --2.7744646 -4.7680068 -1.6665643 --2.809979 -4.7615886 -1.6704085 --2.8450286 -4.7540941 -1.673957 --2.8786051 -4.7438984 -1.6766183 --2.9161675 -4.7399788 -1.6816454 --2.9426692 -4.7179432 -1.6801668 --2.9736044 -4.7030287 -1.6813498 --3.0106521 -4.6975632 -1.6860811 --3.048785 -4.6934223 -1.6914037 --3.0896063 -4.6929793 -1.6982051 --3.1141026 -4.6675758 -1.6958394 --3.1400089 -4.644423 -1.6943609 --3.1571109 -4.6085186 -1.688151 --3.1864181 -4.5906296 -1.6887424 --3.2084818 -4.562396 -1.6854897 --3.2430665 -4.5519595 -1.6890382 --3.2536066 -4.5079613 -1.6798712 --3.2823331 -4.4894547 -1.6804626 --2.2246039 -3.0036509 -1.1159559 --2.2464311 -2.9945297 -1.1177301 --3.3707695 -4.436645 -1.6837153 --3.4305494 -4.4582777 -1.7002751 --3.4384644 -4.4122777 -1.6905167 --3.4625142 -4.3873467 -1.6890382 --3.4673045 -4.3384066 -1.6780969 --3.5166938 -4.3452687 -1.6893338 --3.5463171 -4.3273034 -1.6908123 --3.5569427 -4.2863479 -1.6831239 --3.5592115 -4.2359166 -1.6715914 --3.5987527 -4.2300062 -1.6780969 --3.591599 -4.1694822 -1.6624244 --3.6152313 -4.1452065 -1.6615373 --3.6361721 -4.1179328 -1.6594673 --3.6651905 -4.0998173 -1.6612415 --3.6973283 -4.0850425 -1.6644944 --3.7145803 -4.0538268 -1.6609459 --3.7517271 -4.0442657 -1.6665643 --3.7627394 -4.0065451 -1.6603545 --3.7931759 -3.9896133 -1.6630158 --3.8195715 -3.9683287 -1.663903 --3.8305163 -3.9311328 -1.6579888 --3.8404784 -3.8932726 -1.6517789 --3.8649697 -3.8703105 -1.6520746 --3.890003 -3.8478663 -1.6526661 --3.9101236 -3.8205869 -1.6511875 --3.9286816 -3.7918789 -1.6491176 --3.9663928 -3.7815454 -1.6553274 --3.9811766 -3.7492771 -1.6517789 --4.0013094 -3.7221756 -1.6505961 --4.0170388 -3.6910901 -1.647639 --4.0544653 -3.6798561 -1.6538489 --4.0719895 -3.650445 -1.6517789 --4.1014628 -3.6317244 -1.654736 --4.1351738 -3.6165528 -1.6594673 --4.1493354 -3.5842421 -1.6562146 --4.151629 -3.5419731 -1.6482304 --4.1776671 -3.5201261 -1.6500046 --4.2035928 -3.4980927 -1.6517789 --4.2013621 -3.4528234 -1.6423162 --4.2528787 -3.4516633 -1.6544403 --4.2456536 -3.4027987 -1.6432034 --4.2716961 -3.3808341 -1.6452733 --4.3111758 -3.369267 -1.6526661 --4.3476491 -3.3550076 -1.6588759 --4.3772712 -3.335216 -1.6624244 --4.4029965 -3.3123152 -1.6644944 --4.4408751 -3.2983384 -1.6712956 --4.4764366 -3.2823262 -1.6772099 --4.50423 -3.2603993 -1.6801668 --4.5233736 -3.2321451 -1.6798712 --4.5384369 -3.2010255 -1.6780969 --4.5540724 -3.1703887 -1.6766183 --4.5939097 -3.1564524 -1.6843069 --4.6187253 -3.1319587 -1.6863768 --4.6283288 -3.0971839 -1.6828283 --4.6448545 -3.0671473 -1.6819412 --4.6675882 -3.0411971 -1.6834197 --4.6829467 -3.0104334 -1.6822368 --4.699717 -2.9806194 -1.6816454 --4.7179174 -2.9517264 -1.6816454 --4.7465076 -2.929245 -1.6854897 --4.7619438 -2.8985755 -1.6846025 --4.7780018 -2.8683188 -1.6840111 --4.8020873 -2.8428411 -1.6863768 --4.8153152 -2.8109143 -1.6848983 --4.8515139 -2.7922764 -1.6916995 --4.8560934 -2.7553833 -1.6872638 --4.9170947 -2.7502532 -1.7029364 --4.9263482 -2.7158794 -1.7002751 --4.9563498 -2.6928988 -1.7050064 --5.0030966 -2.6786709 -1.7156519 --5.0287323 -2.6528256 -1.7189046 --5.0423722 -2.6205981 -1.7180176 --5.0813146 -2.6013646 -1.7260016 --5.1057105 -2.574439 -1.7289587 --5.1496444 -2.5570846 -1.7387171 --5.1746774 -2.530055 -1.7419698 --5.1918254 -2.4990849 -1.7425613 --5.2234635 -2.4749541 -1.7481798 --5.2498059 -2.4481063 -1.7520239 --5.2768836 -2.4214265 -1.7561638 --5.3029599 -2.3941135 -1.7600081 --5.3236613 -2.3642445 -1.762078 --5.338943 -2.331917 -1.7623737 --5.3461294 -2.2960978 -1.7600081 --5.3574772 -2.2621362 -1.7591209 --5.3791971 -2.232517 -1.7617823 --5.4034085 -2.2037988 -1.7653308 --5.3769269 -2.1546102 -1.7520239 --5.3464913 -2.1044302 -1.7375343 --5.3842511 -2.0812306 -1.7458141 --5.4103169 -2.0532393 -1.7502497 --5.4630957 -2.035012 -1.7635566 --5.5176477 -2.0168698 -1.7774549 --5.5514998 -1.9907165 -1.7845519 --5.6266909 -1.9788047 -1.8052514 --5.7037482 -1.9666673 -1.8265424 --5.7989659 -1.9597759 -1.8537475 --5.8915896 -1.950888 -1.8800656 --5.995224 -1.9444735 -1.909932 --6.0507441 -1.9215323 -1.924126 --6.1417828 -1.909043 -1.9498526 --6.1698313 -1.8763257 -1.9551754 --6.1931314 -1.841974 -1.9590195 --6.2281661 -1.8108749 -1.9667079 --6.2520247 -1.7762814 -1.9708478 --6.2388735 -1.7312435 -1.9631594 --6.2558331 -1.6946788 -1.9652294 --6.2661138 -1.6562618 -1.9652294 --6.2752333 -1.6175439 -1.9649338 --6.2822609 -1.578311 -1.9640466 --6.3011055 -1.5420053 -1.9670037 --6.2937217 -1.4993277 -1.961681 --6.3130398 -1.4630549 -1.9649338 --6.3312173 -1.4263914 -1.9678909 --6.3323846 -1.3858826 -1.9655252 --6.3360972 -1.3460089 -1.9640466 --6.3423653 -1.3067204 -1.9634552 --6.3540111 -1.2685281 -1.964638 --6.3607373 -1.2293354 -1.9643424 --6.3700385 -1.1906346 -1.9649338 --6.3800445 -1.1520358 -1.9658209 --6.3926396 -1.1138511 -1.9675951 --6.3965273 -1.0741309 -1.9667079 --6.4029975 -1.0348623 -1.9667079 --6.4205542 -0.99731499 -1.9702564 --6.4189944 -0.95677328 -1.9678909 --6.4313636 -0.9183147 -1.9699608 --6.4491816 -0.88051605 -1.973805 --6.4487796 -0.84018719 -1.9720308 --6.4595013 -0.80130833 -1.973805 --6.4766297 -0.76311243 -1.9776492 --6.483089 -0.72357023 -1.9782406 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 0 -0 --6.2061787 0.49072126 -1.9647394 --6.2087407 0.52927852 -1.9665796 --6.1731501 0.56441218 -1.9561521 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --6.1670794 0.98684627 -1.97118 --6.0735917 1.0101295 -1.9426576 --6.0841618 1.0502949 -1.9481781 --6.0738554 1.0869354 -1.9469513 --6.0680075 1.124357 -1.947258 --6.0441685 1.1583406 -1.9417375 --6.0565538 1.1992913 -1.9481781 --6.0854483 1.2438716 -1.960139 --6.0749078 1.2805983 -1.959219 --6.0557747 1.3154225 -1.9555386 --6.0578065 1.3548424 -1.9589123 --6.055872 1.3934822 -1.9610591 --6.0296097 1.4264474 -1.955232 --6.0050216 1.4595929 -1.9500182 --5.9968762 1.4966422 -1.9503249 --5.9811258 1.531756 -1.9481781 --5.9697738 1.5679429 -1.9475647 --5.9434977 1.6000862 -1.9420443 --5.9363203 1.6372845 -1.9429643 --5.9334898 1.6757492 -1.9454179 --5.9194388 1.7110668 -1.9441911 --5.8905749 1.741954 -1.9380572 --5.8934407 1.7822002 -1.9426576 --5.8905778 1.8208596 -1.9454179 --5.878387 1.8566823 -1.9451112 --5.8831878 1.8979797 -1.9506316 --5.8397923 1.9236141 -1.9398974 --5.8125434 1.9542508 -1.9346836 --5.7725353 1.9802994 -1.9251761 --5.7764459 2.0213435 -1.9306966 --5.7791729 2.0621898 -1.9359103 --5.7619386 2.0959837 -1.934377 --5.7454 2.1299746 -1.9331502 --5.7331128 2.1655242 -1.9334568 --5.7170525 2.1996353 -1.9325367 --5.7016759 2.2339783 -1.9319234 --5.6940494 2.2713909 -1.9340702 --5.6844139 2.3080773 -1.9356037 --5.65871 2.3381853 -1.9316167 --5.6591721 2.3791361 -1.9368304 --5.6470923 2.4149387 -1.9377506 --5.6286774 2.448024 -1.9365238 --5.6239953 2.4871364 -1.940204 --5.6103649 2.5223787 -1.9408175 --5.5965137 2.5575473 -1.9414308 --5.578989 2.5910366 -1.9408175 --5.5595431 2.6235943 -1.9395907 --5.5364747 2.6543646 -1.9371371 --5.5200834 2.6882856 -1.9371371 --5.4301205 2.6858015 -1.9107616 --5.4722204 2.7485578 -1.9319234 --5.4620352 2.7855437 -1.934377 --5.4499116 2.8216324 -1.9362171 --5.4375505 2.857677 -1.9380572 --5.4098372 2.8856101 -1.934377 --5.4020729 2.9241889 -1.9380572 --5.3840289 2.9572804 -1.9380572 --5.3607941 2.9874794 -1.9362171 --5.3373914 3.0175049 -1.934377 --5.3146482 3.0478294 -1.9328434 --5.2835069 3.0732014 -1.928243 --5.2596326 3.1026599 -1.9264029 --5.2470298 3.1387844 -1.9288565 --5.23174 3.1733892 -1.9303899 --5.2073064 3.2024384 -1.9285498 --5.1915965 3.2368481 -1.9300833 --5.172442 3.269151 -1.9303899 --5.1482787 3.2982588 -1.9288565 --5.1255498 3.3282306 -1.9279364 --5.1058264 3.360141 -1.928243 --5.0724449 3.3829544 -1.923336 --5.04213 3.4076173 -1.9196557 --5.0384011 3.4503257 -1.9264029 --5.0147896 3.4795475 -1.9254829 --4.9949021 3.5113473 -1.9260962 --4.9794645 3.5463479 -1.9285498 --4.9545236 3.5746062 -1.927323 --4.9378753 3.6088717 -1.9294698 --4.9064603 3.6323044 -1.9257895 --4.887126 3.6646261 -1.9270163 --4.8668218 3.6962714 -1.9279364 --4.8395243 3.7225814 -1.9260962 --4.8098354 3.7469404 -1.923336 --4.7867541 3.7763824 -1.923336 --4.764236 3.8062766 -1.9236426 --4.74893 3.8420243 -1.9270163 --4.725266 3.8710909 -1.9270163 --4.7702751 3.9571476 -1.9558454 --4.7203999 3.9649122 -1.9451112 --4.6793094 3.9796157 -1.9380572 --4.6483126 4.0026617 -1.935297 --4.6150575 4.0236001 -1.9316167 --4.5867147 4.0486917 -1.9300833 --0 0 -0 --4.5416255 4.1091442 -1.9322301 --4.5008883 4.122787 -1.9254829 --4.4741111 4.1490316 -1.9248694 --4.4575882 4.1848769 -1.9288565 --4.4235492 4.2042789 -1.9251761 --4.4196129 4.2524643 -1.9349903 --4.3736682 4.2602391 -1.9260962 --4.3488007 4.288332 -1.9267097 --4.3190384 4.3115721 -1.9251761 --4.290494 4.3359623 -1.9242561 --4.2551608 4.3533564 -1.9202691 --4.2131662 4.3636317 -1.9132152 --4.2060156 4.410068 -1.922416 --4.1736565 4.4302492 -1.9199624 --4.1509323 4.4606533 -1.9221092 --4.121552 4.4839363 -1.9211892 --4.1041961 4.5204182 -1.9260962 --4.0789237 4.5483508 -1.927323 --4.0559864 4.5789943 -1.9297765 --4.018415 4.5930481 -1.9251761 --3.9777133 4.6032119 -1.9190423 --3.9438338 4.6210151 -1.9162821 --3.9074328 4.6356649 -1.9122951 --3.8843946 4.6661377 -1.9150553 --3.858108 4.6928253 -1.9162821 --3.8286409 4.7156711 -1.9159753 --3.7978482 4.736846 -1.9150553 --3.768712 4.7600603 -1.9150553 --3.7476392 4.7935944 -1.919349 --3.7059445 4.8006749 -1.9129084 --3.6868017 4.8369513 -1.9184289 --3.6541924 4.855679 -1.9168955 --3.6192222 4.8711324 -1.9141352 --3.596019 4.9024587 -1.9178156 --3.5374079 4.8851089 -1.9021742 --3.5140069 4.9160156 -1.9058546 --3.4722564 4.9211502 -1.8994139 --3.4615724 4.9704852 -1.9104549 --3.4067538 4.9563293 -1.8966538 --3.3880301 4.9944706 -1.903401 --3.3488514 5.0025086 -1.8984939 --3.3369746 5.0515566 -1.9095348 --3.3111117 5.0799112 -1.9126017 --3.2582631 5.066505 -1.8997207 --3.2281337 5.0880094 -1.9003341 --3.2205801 5.1456456 -1.9147487 --3.1769497 5.1458702 -1.907388 --3.1562028 5.1831536 -1.9141352 --3.1204212 5.1958938 -1.9116817 --3.0870264 5.2124853 -1.9107616 --3.0631421 5.2453032 -1.9159753 --3.0123837 5.2318268 -1.9040143 --2.991498 5.2700801 -1.911375 --2.9539943 5.2791986 -1.9080014 --2.9174104 5.2897224 -1.9052411 --2.8898966 5.3167238 -1.9086148 --2.8572195 5.3343558 -1.9086148 --2.8342047 5.3703079 -1.915362 --2.7941771 5.374084 -1.9104549 --2.7650533 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--1.6197388 -4.8175168 -1.6571546 --1.6504987 -4.8110762 -1.6584224 --1.6809275 -4.803544 -1.6593733 --1.7119633 -4.797606 -1.6609582 --1.7416928 -4.7879028 -1.6612751 --1.7726861 -4.7815723 -1.66286 --1.8060127 -4.7812524 -1.6666638 --1.837359 -4.7753921 -1.6685655 --1.8707768 -4.7746258 -1.6723692 --1.8951193 -4.7507234 -1.6679317 --1.2121755 -2.9849517 -1.0352523 --1.2308301 -2.9783344 -1.0355693 --1.2505516 -2.9742234 -1.0368372 --2.02195 -4.7280741 -1.6771239 --2.0520575 -4.7181878 -1.6780747 --2.103981 -4.7575536 -1.6970932 --2.1339109 -4.7462845 -1.6977271 --2.1598401 -4.7262006 -1.6951914 --1.5752703 -3.3915586 -1.2083199 --1.5915991 -3.3723938 -1.2048331 --1.6065223 -3.3505907 -1.2003956 --1.6266357 -3.3398175 -1.2000786 --1.6458366 -3.3272233 -1.1991277 --1.6645185 -3.3136718 -1.1978598 --1.683527 -3.3008614 -1.1969088 --1.7168291 -3.3157375 -1.206418 --1.749053 -3.3278098 -1.2149763 --1.7779189 -3.3329155 -1.2209989 --2.2443492 -4.1460438 -1.5341687 --2.5098865 -4.5694709 -1.7008969 --2.525413 -4.5316148 -1.6923386 --2.5396364 -4.4920897 -1.6831464 --2.5728128 -4.4862957 -1.6869501 --2.6107814 -4.4884615 -1.6939235 --2.6320093 -4.4617376 -1.6898028 --2.6588495 -4.4446902 -1.6894858 --2.6895142 -4.4339685 -1.6917046 --2.7295864 -4.4383883 -1.6999459 --2.7467337 -4.4054594 -1.6936065 --2.7691536 -4.3813071 -1.6907537 --2.7929151 -4.3594413 -1.6888518 --2.8046343 -4.3191533 -1.6796596 --2.8284767 -4.2979016 -1.6780747 --2.8584781 -4.2859893 -1.6802936 --2.8985291 -4.2888012 -1.6885349 --2.9194317 -4.2631097 -1.6853652 --2.9217477 -4.2108283 -1.6714183 --2.9606192 -4.2114439 -1.6790257 --2.9748514 -4.1769743 -1.6723692 --2.9937663 -4.1494122 -1.6685655 --3.0197299 -4.1317306 -1.6688825 --3.0427678 -4.1100745 -1.6676147 --3.0576887 -4.0776682 -1.6619091 --2.2561238 -2.9703884 -1.2051501 --2.2748854 -2.9572411 -1.2054671 --2.298816 -2.9507093 -1.2086369 --3.14979 -3.9924648 -1.6581055 --3.1724522 -3.9708397 -1.6571546 --3.2086868 -3.966047 -1.663494 --3.2329617 -3.9462841 -1.663494 --3.261353 -3.9314828 -1.6657128 --3.2835848 -3.9092188 -1.6647619 --3.2903066 -3.8687668 -1.6558867 --3.3152206 -3.8499424 -1.6565206 --3.336288 -3.8266683 -1.6552527 --3.372257 -3.8203471 -1.6615921 --3.381732 -3.7840245 -1.6546187 --3.4067955 -3.7653131 -1.6555697 --3.4215076 -3.7352462 -1.651449 --3.4462967 -3.7162683 -1.6523999 --3.4709818 -3.6971269 -1.6533508 --3.4981749 -3.6805723 -1.6555697 --3.5318708 -3.6706579 -1.6609582 --3.5324903 -3.6264961 -1.650498 --3.5553412 -3.6054282 -1.650815 --3.5539463 -3.5600505 -1.6397209 --3.5844872 -3.54685 -1.6438416 --3.6082172 -3.5267782 -1.6447926 --3.6366119 -3.5111604 -1.6479623 --3.6601462 -3.4907444 -1.6489131 --3.6828768 -3.4695213 -1.6495471 --3.6992362 -3.4423351 -1.6473284 --3.7195902 -3.4189303 -1.6470114 --3.7426047 -3.3979557 -1.6479623 --3.7633836 -3.3749275 -1.6479623 --3.7847309 -3.3524013 -1.6482793 --3.792382 -3.3178735 -1.6425737 --3.8169742 -3.2982624 -1.6444756 --3.87393 -3.3061831 -1.6606412 --3.8752899 -3.2664568 -1.6523999 --3.8777666 -3.2280524 -1.6447926 --3.9150825 -3.2186551 -1.6523999 --3.9251866 -3.1867998 -1.6482793 --3.9520657 -3.1685886 -1.651449 --3.973664 -3.1460459 -1.6523999 --3.9928932 -3.1216047 -1.6523999 --4.0172267 -3.1011033 -1.6546187 --4.0437217 -3.0821457 -1.6577885 --4.0663462 -3.0601275 -1.6593733 --4.0896139 -3.0385134 -1.6612751 --4.1051221 -3.0111189 -1.6600072 --4.1373472 -2.9958873 -1.6657128 --4.1564231 -2.9709961 -1.6660298 --4.1830988 -2.9514523 -1.6695164 --4.2081342 -2.9306083 -1.6723692 --4.2260365 -2.9047325 -1.6723692 --4.2563376 -2.8872671 -1.6774409 --4.2913117 -2.872705 -1.6844143 --4.3049011 -2.8437059 -1.6828294 --4.3246522 -2.8187916 -1.6837803 --4.3370805 -2.7891247 -1.6818784 --4.369328 -2.7721155 -1.6879009 --4.398314 -2.7528021 -1.6926556 --4.4264197 -2.732739 -1.6970932 --4.4479642 -2.7084875 -1.698995 --4.4783211 -2.6894464 -1.7043836 --4.4931068 -2.6609504 -1.7037497 --4.5199962 -2.6395497 -1.7078702 --4.546792 -2.6179187 -1.711991 --4.5602951 -2.5885663 -1.71104 --4.5909901 -2.5688734 -1.7167455 --4.6124792 -2.5438619 -1.7189643 --4.6413331 -2.5227604 -1.724036 --4.6692657 -2.5009522 -1.7287905 --4.6971049 -2.4788961 -1.7335452 --4.729897 -2.4592178 -1.7402016 --4.7474298 -2.4314466 -1.7411525 --4.7791948 -2.4108155 -1.747492 --4.8100352 -2.3894639 -1.7535145 --4.8152351 -2.3553202 -1.7500278 --4.8424134 -2.3319037 -1.7547824 --4.8677716 -2.3074293 -1.758903 --4.8921518 -2.2823303 -1.7627068 --4.9207163 -2.2589977 -1.7680953 --4.9223843 -2.2232957 -1.7636577 --4.9515343 -2.1999836 -1.7693632 --4.9293084 -2.1539869 -1.7563672 --4.9415607 -2.1233263 -1.7560502 --4.9256659 -2.0807838 -1.7455902 --4.9567347 -2.0581605 -1.7522466 --4.9964914 -2.0388179 -1.7620728 --5.0326753 -2.0176525 -1.7706311 --5.090848 -2.0048091 -1.7871137 --5.1499352 -1.9916694 -1.8039134 --5.198411 -1.9738386 -1.8169092 --5.3010712 -1.9756957 -1.8492405 --5.3879137 -1.9705013 -1.8758663 --5.4579282 -1.9582276 -1.8964696 --5.5288873 -1.9454832 -1.9173899 --5.5882378 -1.9279189 -1.9341894 --5.6493764 -1.9103067 -1.951623 --5.6870999 -1.884259 -1.9608152 --5.7075753 -1.8522563 -1.963985 --5.733295 -1.8217969 -1.9690566 --5.7416487 -1.7857386 -1.9681057 --5.7661076 -1.7546173 -1.9728602 --5.7685843 -1.7167689 -1.9700074 --5.7753668 -1.680281 -1.9687396 --5.7873926 -1.6453313 -1.9693735 --5.797379 -1.6097896 -1.9693735 --5.7961631 -1.5712087 -1.9655699 --5.8038607 -1.5351294 -1.9649359 --5.8122525 -1.4992517 -1.9646189 --5.8231821 -1.4640229 -1.9652529 --5.8320556 -1.4282649 -1.9652529 --5.8305612 -1.3900331 -1.9617661 --5.8435998 -1.355303 -1.963351 --5.8712349 -1.3238039 -1.9700074 --5.8699827 -1.2857239 -1.9668378 --5.8851829 -1.2512605 -1.9693735 --5.8918204 -1.2149346 -1.9690566 --5.8880038 -1.1765294 -1.9652529 --5.8904562 -1.1394781 -1.963668 --5.9066596 -1.1050583 -1.9668378 --5.9114623 -1.0684574 -1.9662038 --5.9263158 -1.0336324 -1.9690566 --5.9428349 -0.99897993 -1.9725432 --5.9441714 -0.96173888 -1.9709584 --5.9658923 -0.92772657 -1.976347 --5.9771008 -0.89194334 -1.9782488 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --5.6692877 1.0514209 -1.9550045 --5.6553059 1.0847617 -1.9523866 --5.6457624 1.1188899 -1.951405 --5.6369395 1.1531315 -1.9507506 --5.6269841 1.1871116 -1.9497689 --5.6149774 1.2206112 -1.9481329 --5.6000056 1.2533885 -1.945515 --5.5949721 1.2883626 -1.9464967 --5.5933976 1.3241936 -1.9487872 --5.5870037 1.3589361 -1.9494417 --5.5739765 1.392046 -1.9478056 --5.5616689 1.425282 -1.9464967 --5.5336275 1.4543331 -1.9396251 --5.5136514 1.4853076 -1.9356985 --5.52174 1.5238907 -1.9419156 --5.5013742 1.5546569 -1.9379891 --5.5071621 1.5928499 -1.9435518 --5.4827881 1.6223184 -1.9383162 --5.4899139 1.6611328 -1.9445335 --5.482326 1.6956252 -1.945515 --5.4556012 1.7241035 -1.9396251 --5.4458189 1.7578365 -1.9399524 --5.4259567 1.7882587 -1.9366802 --5.4193597 1.8230253 -1.9383162 --5.4375639 1.8663731 -1.9491144 --5.4215508 1.89814 -1.9474784 --5.3911147 1.9246944 -1.9406068 --5.3667731 1.9532106 -1.9360257 --5.3422847 1.9815006 -1.9314448 --5.334445 2.015914 -1.9330808 --5.3281479 2.0509851 -1.9353713 --5.3110647 2.0819142 -1.9337353 --5.2955575 2.1134117 -1.9327536 --5.2693591 2.1405277 -1.9278454 --5.2526331 2.1713748 -1.9265364 --5.2557592 2.2105277 -1.9327536 --5.2551274 2.2483127 -1.9376619 --5.2507634 2.2846644 -1.9412613 --5.2426949 2.3195169 -1.9435518 --5.2145762 2.345437 -1.9383162 --5.2009463 2.3777821 -1.9386435 --5.1734052 2.4036746 -1.9337353 --5.1602678 2.4361799 -1.9343897 --5.1409631 2.4657528 -1.9327536 --5.1384778 2.5034614 -1.9376619 --5.117939 2.5324278 -1.9356985 --5.102304 2.5637834 -1.9356985 --5.0789022 2.5911758 -1.9327536 --5.0620685 2.6218557 -1.9324263 --5.0425406 2.6511071 -1.9311175 --5.0261784 2.6819975 -1.9311175 --5.007966 2.7118869 -1.9304631 --4.9895754 2.7416537 -1.9298086 --4.9701834 2.7708366 -1.9288269 --4.9530883 2.801281 -1.9288269 --4.9317088 2.8292677 -1.9271909 --4.9183393 2.8618519 -1.9288269 --4.8966184 2.8895745 -1.9271909 --4.8804173 2.9205358 -1.9278454 --4.8615975 2.9499362 -1.9275181 --4.8482342 2.9826827 -1.9294814 --4.8290396 3.0118747 -1.9291542 --4.8128643 3.0429637 -1.9301358 --4.7917156 3.0709076 -1.9291542 --4.7791214 3.1043704 -1.9317719 --4.7607727 3.134156 -1.9320991 --4.7406664 3.1627839 -1.9317719 --4.7188225 3.1902242 -1.9307903 --4.6944818 3.2159133 -1.9288269 --4.6777658 3.2468133 -1.9301358 --4.655437 3.2738233 -1.9291542 --4.6337228 3.30123 -1.9284997 --4.609549 3.326834 -1.9268637 --4.5859981 3.3528235 -1.9255548 --4.56458 3.380337 -1.9252275 --4.5384622 3.4043109 -1.922937 --4.5137267 3.4292355 -1.921301 --4.4993396 3.4620543 -1.924246 --4.4802475 3.4913394 -1.9252275 --4.4572577 3.5175929 -1.9245732 --4.4311619 3.5413353 -1.9226098 --4.4174275 3.5749984 -1.9262092 --4.3881011 3.596045 -1.922937 --4.3637724 3.6210914 -1.9219553 --4.3429184 3.6490149 -1.9226098 --4.3240447 3.6786561 -1.924246 --4.2978125 3.7020345 -1.9226098 --4.2821364 3.7345481 -1.925882 --4.2591414 3.7607524 -1.925882 --4.2416205 3.7918546 -1.9284997 --4.2161727 3.8159065 -1.9275181 --4.1947694 3.8436203 -1.9284997 --4.1717987 3.8699293 -1.9288269 --0 0 -0 --0 0 -0 --4.1093888 3.9552388 -1.933408 --4.0775995 3.9731236 -1.9298086 --0 0 -0 --4.0298734 4.0241985 -1.9304631 --3.9984612 4.0421305 -1.9271909 --3.9768853 4.0699682 -1.9288269 --3.9439642 4.086133 -1.9249003 --3.918818 4.1102557 -1.9249003 --3.8876946 4.1280313 -1.9219553 --3.8571446 4.1462722 -1.9193376 --3.8277955 4.1656857 -1.9173744 --3.7977188 4.184195 -1.9150838 --3.7738655 4.2095299 -1.9160655 --3.753602 4.238975 -1.9190104 --3.7293873 4.264061 -1.9199921 --3.6994479 4.2825727 -1.9180288 --3.6712613 4.3030343 -1.9170471 --3.6514854 4.3334298 -1.9206465 --3.619993 4.3499417 -1.9180288 --3.6064305 4.388135 -1.9252275 --3.569912 4.3984399 -1.9199921 --3.5487647 4.4276366 -1.9232643 --3.51684 4.4433994 -1.9206465 --3.4866011 4.4611712 -1.9190104 --3.4591622 4.4824805 -1.9190104 --3.4344559 4.50738 -1.9206465 --3.4050307 4.526103 -1.9196649 --3.3805745 4.5514627 -1.9216281 --3.3531423 4.5728822 -1.9219553 --3.3200352 4.5864806 -1.9190104 --3.285789 4.5983071 -1.915411 --3.2547901 4.6145201 -1.913775 --3.2258749 4.6336288 -1.9134477 --3.1984527 4.6548929 -1.9141022 --3.1687701 4.6728663 -1.9134477 --3.1437161 4.6977196 -1.9157382 --3.1158733 4.7184978 -1.9163927 --3.0868626 4.7375278 -1.9163927 --3.0572245 4.7555842 -1.9160655 --3.0239398 4.7678685 -1.9134477 --2.9956298 4.7879357 -1.9141022 --2.9642107 4.8030095 -1.9127933 --2.9351754 4.8219147 -1.9131205 --2.906992 4.8422642 -1.9141022 --2.8767445 4.8591971 -1.913775 --2.8473511 4.877573 -1.9141022 --2.8216102 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-4.5603504 -1.6835597 --1.5563996 -4.5392866 -1.679171 --1.5848441 -4.5314283 -1.6798462 --1.6151476 -4.5287113 -1.6825469 --1.6454774 -4.5257931 -1.6852475 --1.6784478 -4.5297341 -1.6906489 --1.7075398 -4.5228729 -1.6919993 --1.7389752 -4.521975 -1.6957128 --1.7704636 -4.5208611 -1.6994263 --1.8009582 -4.5169082 -1.702127 --1.2025824 -2.9627969 -1.1049335 --1.2203798 -2.9544921 -1.1045959 --1.8655654 -4.4396019 -1.6852475 --1.89721 -4.4384584 -1.6892986 --1.927785 -4.4345031 -1.6923369 --1.9576218 -4.428618 -1.6947 --1.9940169 -4.4371295 -1.7028022 --2.008692 -4.3974113 -1.6919993 --1.5700114 -3.3817716 -1.2953333 --1.5835048 -3.3567498 -1.2892566 --1.5959371 -3.3299928 -1.2825049 --1.6159276 -3.3192911 -1.2821673 --1.6379324 -3.3126888 -1.2835176 --1.6603392 -3.3067827 -1.2852056 --1.6840175 -3.303242 -1.2879063 --1.7180965 -3.3195992 -1.2987092 --1.7471867 -3.3256614 -1.3054608 --2.2546384 -4.2285829 -1.6768079 --2.2783027 -4.2105293 -1.6751199 --2.3004715 -4.1898694 -1.6724192 --2.3352969 -4.192122 -1.679171 --2.3605123 -4.1768947 -1.6788334 --2.3879693 -4.1655989 -1.6801838 --2.4167953 -4.1565647 -1.6825469 --2.44082 -4.1392245 -1.6815341 --2.4656887 -4.1233621 -1.6811965 --2.4899669 -4.1065454 -1.6805214 --2.5175817 -4.0951996 -1.6822093 --2.5396752 -4.0748816 -1.6801838 --2.5646303 -4.0592217 -1.6801838 --2.5889814 -4.0426164 -1.6798462 --2.6137376 -4.0266547 -1.6798462 --2.6383955 -4.0105414 -1.6798462 --2.6634762 -3.99506 -1.6801838 --2.6705523 -3.9529014 -1.6690433 --2.7021997 -3.9473157 -1.6737696 --2.7220778 -3.924473 -1.6710688 --2.7461066 -3.9076967 -1.6710688 --2.7596607 -3.8762031 -1.6646546 --2.79055 -3.8691225 -1.6690433 --2.8075752 -3.8428061 -1.6649922 --2.8277421 -3.8209667 -1.6629667 --2.8449242 -3.7952585 -1.6592532 --2.8624666 -3.7702334 -1.6558774 --2.8769405 -3.741405 -1.6508136 --2.3030503 -2.9572058 -1.3024225 --2.321152 -2.9430189 -1.3024225 --2.3362296 -2.9250433 -1.3007346 --2.9809136 -3.6857772 -1.6582404 --3.001684 -3.6652324 -1.6572278 --3.0211129 -3.6431224 -1.6555398 --3.0440152 -3.6252375 -1.6558774 --3.0625441 -3.6021883 -1.6538519 --3.0815189 -3.579762 -1.6521639 --3.1077547 -3.5657544 -1.6545271 --3.130198 -3.5473242 -1.6548647 --3.1531591 -3.5294549 -1.6555398 --3.1690738 -3.5037577 -1.6525015 --3.1917841 -3.4856353 -1.6531767 --3.210552 -3.4632237 -1.6518263 --3.2323856 -3.4441454 -1.6521639 --3.2528093 -3.4235644 -1.6518263 --3.2776694 -3.4076121 -1.6538519 --3.3123057 -3.4015999 -1.6609412 --3.3093281 -3.3570774 -1.648788 --3.3285346 -3.3353758 -1.6481129 --3.3422482 -3.3082671 -1.644737 --3.373925 -3.2988853 -1.650476 --3.386656 -3.2709274 -1.6467625 --3.4107485 -3.2539845 -1.648788 --3.438185 -3.2400973 -1.6525015 --3.459379 -3.2202227 -1.6531767 --3.47838 -3.1982987 -1.6528391 --3.4979389 -3.1768954 -1.6528391 --3.5299773 -3.166688 -1.6589156 --3.5514545 -3.1468418 -1.6599284 --3.5714047 -3.1256111 -1.660266 --3.5983486 -3.1104105 -1.6639795 --3.6187978 -3.0894952 -1.6646546 --3.6427233 -3.0714805 -1.6670178 --3.671627 -3.0575051 -1.671744 --3.6954072 -3.0391045 -1.6741072 --3.718369 -3.0199337 -1.6761327 --3.7346261 -2.9952943 -1.6751199 --3.7521968 -2.9717383 -1.6747823 --3.7711017 -2.9492393 -1.6751199 --3.7868922 -2.9243186 -1.6741072 --3.8040156 -2.9004567 -1.6737696 --3.8255007 -2.8798921 -1.6754575 --3.8544309 -2.8647885 -1.6805214 --3.8787661 -2.8460965 -1.6835597 --3.8984432 -2.8239002 -1.6845723 --3.9218221 -2.8043072 -1.687273 --3.9481828 -2.7867048 -1.6913241 --3.9737027 -2.7683463 -1.6950376 --3.9921653 -2.7449787 -1.6957128 --4.0011449 -2.7151453 -1.6923369 --4.0232038 -2.6942105 -1.6947 --4.0459414 -2.6736259 -1.6974007 --4.0819817 -2.6616049 -1.7058405 --4.1045685 -2.640583 -1.7085412 --4.133409 -2.6234198 -1.7139425 --4.1693726 -2.610498 -1.7223822 --4.1877141 -2.58635 -1.723395 --4.2002892 -2.5586469 -1.7220447 --4.2352738 -2.544462 -1.7301468 --4.2621441 -2.5251451 -1.7348731 --4.2799959 -2.50037 -1.7358857 --4.3074918 -2.4811099 -1.7409496 --4.3300009 -2.4588168 -1.7439879 --4.3499341 -2.4349611 -1.7460134 --4.3672652 -2.4095888 -1.7470262 --4.384449 -2.3840957 -1.7480389 --4.4114394 -2.3638179 -1.7531028 --4.4375138 -2.342859 -1.757829 --4.459321 -2.3194969 -1.7608672 --4.4810085 -2.2959549 -1.7639056 --4.5008941 -2.2713859 -1.7662687 --4.5164323 -2.2445641 -1.7669439 --4.5377288 -2.2205338 -1.7699822 --4.5690761 -2.2012298 -1.7770715 --4.591001 -2.1771872 -1.7804474 --4.5181274 -2.1087606 -1.746351 --4.5172958 -2.0747113 -1.7409496 --4.5496693 -2.0558712 -1.7487141 --4.5897222 -2.0401533 -1.759517 --4.6219902 -2.0206268 -1.7672814 --4.662838 -2.004499 -1.7784219 --4.7114639 -1.9912441 -1.7926006 --4.759232 -1.9771061 -1.8064417 --4.8078742 -1.9628123 -1.8206204 --4.8757381 -1.9557062 -1.842226 --4.9533272 -1.9516367 -1.8675451 --5.0310469 -1.9466877 -1.8928642 --5.1044908 -1.9391857 -1.9164954 --5.1648002 -1.9259207 -1.9350628 --5.2118783 -1.9071349 -1.9485663 --5.2447443 -1.8827538 -1.9566684 --5.2624125 -1.8527259 -1.9590316 --5.2888074 -1.8256239 -1.9647706 --5.3079343 -1.7958537 -1.9678088 --5.3242145 -1.7650286 -1.9698343 --5.3430014 -1.7349435 -1.9728726 --5.3517523 -1.7015563 -1.9721975 --5.3674846 -1.6703651 -1.974223 --5.3722301 -1.6357539 -1.9721975 --5.3830676 -1.6030284 -1.9725351 --5.3855724 -1.567863 -1.9698343 --5.3969021 -1.5353035 -1.9705095 --5.4007792 -1.5006474 -1.968484 --5.4135194 -1.4684666 -1.9698343 --5.4105983 -1.4320903 -1.9654458 --5.4147267 -1.3976879 -1.9637578 --5.416811 -1.3628293 -1.9613947 --5.4387846 -1.3329287 -1.9664584 --5.4422832 -1.2984393 -1.9647706 --5.4483137 -1.2645957 -1.9640954 --5.4550524 -1.2309345 -1.9637578 --5.4625025 -1.1974398 -1.9637578 --5.4706678 -1.1640959 -1.9640954 --5.4841604 -1.1318389 -1.9664584 --5.4983859 -1.0996447 -1.9691592 --5.5096507 -1.0667815 -1.9708471 --5.5244193 -1.0345148 -1.9738854 --5.5334415 -1.001101 -1.9748982 --5.543189 -0.96777749 -1.9762485 --5.5499511 -0.93390316 -1.9765861 --5.561152 -0.90073514 -1.9786117 --5.561924 -0.86587125 -1.9769237 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 -0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --0 0 -0 --5.2559419 1.0406026 -1.9463221 --5.267828 1.0765911 -1.9532804 --5.2574534 1.1081195 -1.9518888 --5.2450585 1.1391627 -1.9498012 --5.2333956 1.1703004 -1.9480617 --5.2252026 1.2021794 -1.9477137 --5.2186403 1.234434 -1.9480617 --5.2155223 1.2675397 -1.9498012 --5.2076468 1.2995178 -1.9498012 --5.2041159 1.3326106 -1.9515408 --5.1958413 1.3645173 -1.9515408 --5.1828446 1.3951533 -1.9498012 --5.1696677 1.4256812 -1.9480617 --5.156312 1.4561 -1.9463221 --5.1373734 1.4848455 -1.942495 --5.1227722 1.5147437 -1.9404075 --5.1268415 1.5502211 -1.9456263 --5.1235027 1.5835888 -1.9480617 --5.108326 1.613301 -1.9459741 --5.1090369 1.6480709 -1.9501492 --5.0792394 1.6729318 -1.942495 --5.0626588 1.7019733 -1.9400595 --5.0397062 1.7287438 -1.9351887 --5.0077672 1.7521986 -1.9268386 --4.9889755 1.7800554 -1.9237075 --0 0 -0 --4.9887309 1.8492953 -1.9324054 --5.0290318 1.8994259 -1.9529325 --5.019032 1.9309213 -1.9536283 --5.0088353 1.9623655 -1.9543241 --4.9984417 1.9937574 -1.9550201 --4.914022 1.9951017 -1.9261428 --4.9094853 2.0284398 -1.9292741 --4.9081812 2.063251 -1.933797 --4.904048 2.0970161 -1.9372762 --4.8936677 2.1281896 -1.9383199 --4.8873763 2.1612113 -1.9411033 --4.8842831 2.1957741 -1.9452783 --4.8519602 2.2171259 -1.9376241 --4.8297629 2.2429047 -1.934145 --4.8235397 2.2760997 -1.9372762 --4.790041 2.2963278 -1.9292741 --4.7826033 2.3289609 -1.9320575 --4.7606606 2.3545203 -1.9289262 --4.7519879 2.3866334 -1.9313616 --4.751451 2.4229896 -1.9372762 --4.7314997 2.4495113 -1.9351887 --4.713891 2.4771881 -1.934145 --4.6986027 2.5060654 -1.934145 --4.6889081 2.5379734 -1.9365804 --4.6650305 2.5621812 -1.9331012 --4.6451273 2.5884745 -1.9313616 --4.6275253 2.6160045 -1.9306657 --4.6105733 2.6438828 -1.9303179 --4.5829196 2.6655214 -1.925447 --4.5737448 2.69788 -1.9285783 --4.5619316 2.7287817 -1.9306657 --4.5459037 2.7572083 -1.9310137 --4.5360866 2.7894709 -1.934145 --4.5212717 2.8187399 -1.9351887 --4.5023065 2.8454268 -1.9344928 --4.4879198 2.8750224 -1.9358846 --4.4670496 2.9004626 -1.9344928 --4.443687 2.9242086 -1.9320575 --4.4233212 2.9498587 -1.9310137 --4.4012547 2.9743185 -1.9292741 --4.3829217 3.0012681 -1.9292741 --4.3628836 3.0270355 -1.9285783 --4.3442278 3.0537486 -1.9285783 --4.3254085 3.0803468 -1.9285783 --4.3071866 3.1073778 -1.9289262 --4.2850118 3.1315343 -1.9275346 --4.2732506 3.1633475 -1.9310137 --4.2515101 3.1878202 -1.9299699 --4.2385883 3.2189517 -1.9331012 --4.2053838 3.234607 -1.9268386 --4.1898942 3.2638078 -1.9289262 --4.1719966 3.2911975 -1.9299699 --4.1553855 3.3196609 -1.9317095 --4.1378531 3.3474548 -1.9331012 --4.1223116 3.376941 -1.9355366 --4.1051207 3.405165 -1.9372762 --4.0870209 3.4327018 -1.9386679 --4.0665956 3.4583223 -1.9390157 --4.0460091 3.4838212 -1.9393637 --4.0245566 3.5085814 -1.9393637 --4.0022502 3.5325892 -1.9390157 --3.9798002 3.5564551 -1.9386679 --3.9446967 3.5688543 -1.9320575 --3.9289451 3.5986917 -1.9351887 --3.9074774 3.6233692 -1.9355366 --3.8838046 3.6459932 -1.9348408 --3.8538861 3.6626492 -1.9310137 --3.8347173 3.6894779 -1.9327533 --3.8187215 3.7194808 -1.9362324 --3.7831461 3.7303324 -1.9296221 --3.7588592 3.7521501 -1.9289262 --3.7331285 3.7724771 -1.9275346 --3.7040141 3.7892771 -1.9244033 --3.6735318 3.8045127 -1.9205762 --3.646884 3.8235888 -1.9188366 --3.6207833 3.8431635 -1.9174449 --3.6022422 3.8707995 -1.9202282 --3.5733492 3.8873067 -1.9174449 --3.55006 3.9098535 -1.9177928 --3.5385187 3.9455245 -1.9247512 --3.5142429 3.9671621 -1.9247512 --3.4818113 3.979476 -1.9202282 --3.4561024 3.9993463 -1.9195324 --3.4296722 4.0183372 -1.9184886 --3.4061599 4.0407395 -1.9191844 --3.3837011 4.064446 -1.9205762 --3.3533411 4.0786128 -1.9174449 --3.3371139 4.1100311 -1.9226637 --3.3153503 4.134819 -1.9247512 --3.2835171 4.1469975 -1.9209241 --3.2551234 4.163373 -1.9191844 --3.2283707 4.1817832 -1.9184886 --3.1992419 4.1970391 -1.9164011 --3.1723018 4.2150917 -1.9157053 --3.1480558 4.2367353 -1.9167491 --3.1364138 4.2756295 -1.925795 --3.1002252 4.2811232 -1.9195324 --3.0640876 4.286335 -1.9132699 --3.0496173 4.3219099 -1.9209241 --3.0251837 4.3436184 -1.9223157 --2.9990056 4.3628716 -1.9226637 --2.9642868 4.3695517 -1.9174449 --2.9389839 4.3899956 -1.9184886 --2.9068263 4.4001226 -1.9150095 --2.8782375 4.4155192 -1.9139657 --2.8485553 4.4291534 -1.9122262 --2.8233335 4.4497156 -1.9136178 --2.7984636 4.4709291 -1.9153574 --2.7704854 4.4872184 -1.9150095 --2.7453375 4.5081372 -1.9167491 --2.7132816 4.5176635 -1.9136178 --2.6864657 4.53584 -1.9143137 --2.657166 4.5498095 -1.9132699 --2.6277959 4.5635905 -1.9122262 --2.6025207 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a/perception/ground_segmentation/test/test_ransac_ground_filter.cpp b/perception/ground_segmentation/test/test_ransac_ground_filter.cpp new file mode 100644 index 0000000000000..79e28b6b1ccd8 --- /dev/null +++ b/perception/ground_segmentation/test/test_ransac_ground_filter.cpp @@ -0,0 +1,228 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "ament_index_cpp/get_package_share_directory.hpp" +#include "tf2_ros/transform_broadcaster.h" + +#include +#include + +#include "geometry_msgs/msg/transform_stamped.hpp" +#include +#include + +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#include +#else +#include +#include +#endif +#include + +void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) +{ + pointcloud.fields.resize(4); + pointcloud.fields[0].name = "x"; + pointcloud.fields[1].name = "y"; + pointcloud.fields[2].name = "z"; + pointcloud.fields[3].name = "intensity"; + pointcloud.fields[0].offset = 0; + pointcloud.fields[1].offset = 4; + pointcloud.fields[2].offset = 8; + pointcloud.fields[3].offset = 12; + pointcloud.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[3].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[0].count = 1; + pointcloud.fields[1].count = 1; + pointcloud.fields[2].count = 1; + pointcloud.fields[3].count = 1; + pointcloud.height = 1; + pointcloud.point_step = 16; + pointcloud.is_bigendian = false; + pointcloud.is_dense = true; + pointcloud.header.frame_id = "base_link"; + pointcloud.header.stamp.sec = 0; + pointcloud.header.stamp.nanosec = 0; +} + +class RansacGroundFilterTestSuite : public ::testing::Test +{ +protected: + void SetUp() { rclcpp::init(0, nullptr); } + void TearDown() { (void)rclcpp::shutdown(); } +}; + +class RansacGroundFilterTest : public ground_segmentation::RANSACGroundFilterComponent +{ +public: + explicit RansacGroundFilterTest(const rclcpp::NodeOptions & options) + : RANSACGroundFilterComponent(options) + { + input_pointcloud_pub_ = this->create_publisher( + "/test_ransac_ground_filter/input_cloud", 1); + + output_pointcloud_pub_ = this->create_publisher( + "/test_ransac_ground_filter/output_cloud", 1); + } + + ~RansacGroundFilterTest() {} + + void filter(const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) + { + return RANSACGroundFilterComponent::filter(input, indices, output); + } + + rclcpp::Publisher::SharedPtr input_pointcloud_pub_; + rclcpp::Publisher::SharedPtr output_pointcloud_pub_; +}; + +void convertPCL2PointCloud2( + const pcl::PointCloud & pcl_cloud, sensor_msgs::msg::PointCloud2 & cloud) +{ + cloud.height = 1; + cloud.width = pcl_cloud.size(); + cloud.is_dense = true; + cloud.is_bigendian = false; + cloud.point_step = 16; + cloud.row_step = cloud.point_step * cloud.width; + cloud.fields.resize(4); + cloud.fields[0].name = "x"; + cloud.fields[0].offset = 0; + cloud.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[0].count = 1; + cloud.fields[1].name = "y"; + cloud.fields[1].offset = 4; + cloud.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[1].count = 1; + cloud.fields[2].name = "z"; + cloud.fields[2].offset = 8; + cloud.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[2].count = 1; + cloud.fields[3].name = "intensity"; + cloud.fields[3].offset = 12; + cloud.fields[3].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[3].count = 1; + cloud.data.resize(cloud.row_step * cloud.height); + for (size_t i = 0; i < pcl_cloud.size(); ++i) { + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[0].offset], &pcl_cloud[i].x, sizeof(float)); + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[1].offset], &pcl_cloud[i].y, sizeof(float)); + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[2].offset], &pcl_cloud[i].z, sizeof(float)); + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[3].offset], &pcl_cloud[i].intensity, + sizeof(float)); + } +} + +TEST_F(RansacGroundFilterTestSuite, TestCase1) +{ + const auto share_dir = ament_index_cpp::get_package_share_directory("ground_segmentation"); + const auto config_path = share_dir + "/config/ransac_ground_filter.param.yaml"; + YAML::Node config = YAML::LoadFile(config_path); + auto params = config["/**"]["ros__parameters"]; + + std::string base_frame = params["base_frame"].as(); + std::string unit_axis = params["unit_axis"].as(); + int max_iterations = params["max_iterations"].as(); + int min_trial = params["min_trial"].as(); + int min_points = params["min_points"].as(); + double outlier_threshold = params["outlier_threshold"].as(); + double plane_slope_threshold = params["plane_slope_threshold"].as(); + double voxel_size_x = params["voxel_size_x"].as(); + double voxel_size_y = params["voxel_size_y"].as(); + double voxel_size_z = params["voxel_size_z"].as(); + double height_threshold = params["height_threshold"].as(); + bool debug = params["debug"].as(); + + const auto pcd_path = share_dir + "/data/test.pcd"; + pcl::PointCloud cloud; + pcl::io::loadPCDFile(pcd_path, cloud); + + sensor_msgs::msg::PointCloud2::SharedPtr origin_input_msg_ptr(new sensor_msgs::msg::PointCloud2); + convertPCL2PointCloud2(cloud, *origin_input_msg_ptr); + origin_input_msg_ptr->header.frame_id = "velodyne_top"; + + // input cloud frame MUST be base_link + sensor_msgs::msg::PointCloud2::SharedPtr input_msg_ptr(new sensor_msgs::msg::PointCloud2); + + geometry_msgs::msg::TransformStamped t; + t.header.frame_id = "base_link"; + t.child_frame_id = "velodyne_top"; + t.transform.translation.x = 0.6; + t.transform.translation.y = 0; + t.transform.translation.z = 2; + tf2::Quaternion q; + q.setRPY(0.0, 0.0, 0.0); + t.transform.rotation.x = q.x(); + t.transform.rotation.y = q.y(); + t.transform.rotation.z = q.z(); + t.transform.rotation.w = q.w(); + + tf2::doTransform(*origin_input_msg_ptr, *input_msg_ptr, t); + std::vector parameters; + parameters.emplace_back("base_frame", base_frame); + parameters.emplace_back("unit_axis", unit_axis); + parameters.emplace_back("max_iterations", max_iterations); + parameters.emplace_back("min_trial", min_trial); + parameters.emplace_back("min_points", min_points); + parameters.emplace_back("outlier_threshold", outlier_threshold); + parameters.emplace_back("plane_slope_threshold", plane_slope_threshold); + parameters.emplace_back("voxel_size_x", voxel_size_x); + parameters.emplace_back("voxel_size_y", voxel_size_y); + parameters.emplace_back("voxel_size_z", voxel_size_z); + parameters.emplace_back("height_threshold", height_threshold); + parameters.emplace_back("debug", debug); + + rclcpp::NodeOptions node_options; + node_options.parameter_overrides(parameters); + auto ransac_ground_filter_test = std::make_shared(node_options); + ransac_ground_filter_test->input_pointcloud_pub_->publish(*input_msg_ptr); + + sensor_msgs::msg::PointCloud2 out_cloud; + ransac_ground_filter_test->filter(input_msg_ptr, nullptr, out_cloud); + ransac_ground_filter_test->output_pointcloud_pub_->publish(out_cloud); + std::cout << "out_cloud.width: " << out_cloud.width << std::endl; + std::cout << "out_cloud.height: " << out_cloud.height << std::endl; + std::cout << "out_cloud.row_step: " << out_cloud.row_step << std::endl; + std::cout << "out_cloud.point_step: " << out_cloud.point_step << std::endl; + std::cout << "out_cloud.is_dense: " << out_cloud.is_dense << std::endl; + std::cout << "out_cloud.is_bigendian: " << out_cloud.is_bigendian << std::endl; + std::cout << "out_cloud.data.size(): " << out_cloud.data.size() << std::endl; + + // check out_cloud + int effect_num = 0; + int total_num = 0; + const float min_no_ground_point_z = 0.1; // z in base_frame + for (sensor_msgs::PointCloud2ConstIterator iter_x(out_cloud, "x"), iter_y(out_cloud, "y"), + iter_z(out_cloud, "z"), iter_intensity(out_cloud, "intensity"); + iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++iter_intensity) { + const float z = *iter_z; + total_num += 1; + if (z > min_no_ground_point_z) { + effect_num += 1; + } + } + + const float percent = 1.0 * effect_num / total_num; + std::cout << "effect_num=" << effect_num << ",total_num=" << total_num + << ",percentage:" << percent << std::endl; + EXPECT_GE(percent, 0.8); +} diff --git a/perception/ground_segmentation/test/test_ray_ground_filter.cpp b/perception/ground_segmentation/test/test_ray_ground_filter.cpp index 0c1db47a5ae09..68dddf0c68bc7 100644 --- a/perception/ground_segmentation/test/test_ray_ground_filter.cpp +++ b/perception/ground_segmentation/test/test_ray_ground_filter.cpp @@ -61,6 +61,46 @@ class RayGroundFilterComponentTest : public ground_segmentation::RayGroundFilter rclcpp::Publisher::SharedPtr output_pointcloud_pub_; }; +void convertPCL2PointCloud2( + const pcl::PointCloud & pcl_cloud, sensor_msgs::msg::PointCloud2 & cloud) +{ + cloud.height = 1; + cloud.width = pcl_cloud.size(); + cloud.is_dense = true; + cloud.is_bigendian = false; + cloud.point_step = 16; + cloud.row_step = cloud.point_step * cloud.width; + cloud.fields.resize(4); + cloud.fields[0].name = "x"; + cloud.fields[0].offset = 0; + cloud.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[0].count = 1; + cloud.fields[1].name = "y"; + cloud.fields[1].offset = 4; + cloud.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[1].count = 1; + cloud.fields[2].name = "z"; + cloud.fields[2].offset = 8; + cloud.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[2].count = 1; + cloud.fields[3].name = "intensity"; + cloud.fields[3].offset = 12; + cloud.fields[3].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[3].count = 1; + cloud.data.resize(cloud.row_step * cloud.height); + for (size_t i = 0; i < pcl_cloud.size(); ++i) { + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[0].offset], &pcl_cloud[i].x, sizeof(float)); + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[1].offset], &pcl_cloud[i].y, sizeof(float)); + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[2].offset], &pcl_cloud[i].z, sizeof(float)); + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[3].offset], &pcl_cloud[i].intensity, + sizeof(float)); + } +} + TEST_F(RayGroundFilterComponentTestSuite, TestCase1) { const auto share_dir = ament_index_cpp::get_package_share_directory("ground_segmentation"); @@ -83,11 +123,11 @@ TEST_F(RayGroundFilterComponentTestSuite, TestCase1) double reclass_distance_threshold_ = params["reclass_distance_threshold"].as(); const auto pcd_path = share_dir + "/data/test.pcd"; - pcl::PointCloud cloud; - pcl::io::loadPCDFile(pcd_path, cloud); + pcl::PointCloud cloud; + pcl::io::loadPCDFile(pcd_path, cloud); sensor_msgs::msg::PointCloud2::SharedPtr origin_input_msg_ptr(new sensor_msgs::msg::PointCloud2); - pcl::toROSMsg(cloud, *origin_input_msg_ptr); + convertPCL2PointCloud2(cloud, *origin_input_msg_ptr); origin_input_msg_ptr->header.frame_id = "velodyne_top"; // input cloud frame MUST be base_link @@ -141,8 +181,8 @@ TEST_F(RayGroundFilterComponentTestSuite, TestCase1) int total_num = 0; const float min_no_ground_point_z = 0.1; // z in base_frame for (sensor_msgs::PointCloud2ConstIterator iter_x(out_cloud, "x"), iter_y(out_cloud, "y"), - iter_z(out_cloud, "z"); - iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) { + iter_z(out_cloud, "z"), iter_intensity(out_cloud, "intensity"); + iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++iter_intensity) { const float z = *iter_z; total_num += 1; if (z > min_no_ground_point_z) { diff --git a/perception/ground_segmentation/test/test_scan_ground_filter.cpp b/perception/ground_segmentation/test/test_scan_ground_filter.cpp index e48bd36d8c54e..af97f7e0112fd 100644 --- a/perception/ground_segmentation/test/test_scan_ground_filter.cpp +++ b/perception/ground_segmentation/test/test_scan_ground_filter.cpp @@ -31,6 +31,45 @@ #include +void convertPCL2PointCloud2( + const pcl::PointCloud & pcl_cloud, sensor_msgs::msg::PointCloud2 & cloud) +{ + cloud.height = 1; + cloud.width = pcl_cloud.size(); + cloud.is_dense = true; + cloud.is_bigendian = false; + cloud.point_step = 16; + cloud.row_step = cloud.point_step * cloud.width; + cloud.fields.resize(4); + cloud.fields[0].name = "x"; + cloud.fields[0].offset = 0; + cloud.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[0].count = 1; + cloud.fields[1].name = "y"; + cloud.fields[1].offset = 4; + cloud.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[1].count = 1; + cloud.fields[2].name = "z"; + cloud.fields[2].offset = 8; + cloud.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[2].count = 1; + cloud.fields[3].name = "intensity"; + cloud.fields[3].offset = 12; + cloud.fields[3].datatype = sensor_msgs::msg::PointField::FLOAT32; + cloud.fields[3].count = 1; + cloud.data.resize(cloud.row_step * cloud.height); + for (size_t i = 0; i < pcl_cloud.size(); ++i) { + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[0].offset], &pcl_cloud[i].x, sizeof(float)); + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[1].offset], &pcl_cloud[i].y, sizeof(float)); + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[2].offset], &pcl_cloud[i].z, sizeof(float)); + memcpy( + &cloud.data[i * cloud.point_step + cloud.fields[3].offset], &pcl_cloud[i].intensity, + sizeof(float)); + } +} class ScanGroundFilterTest : public ::testing::Test { protected: @@ -94,9 +133,9 @@ class ScanGroundFilterTest : public ::testing::Test std::make_shared(); const auto share_dir = ament_index_cpp::get_package_share_directory("ground_segmentation"); const auto pcd_path = share_dir + "/data/test.pcd"; - pcl::PointCloud cloud; - pcl::io::loadPCDFile(pcd_path, cloud); - pcl::toROSMsg(cloud, *origin_input_msg_ptr); + pcl::PointCloud cloud; + pcl::io::loadPCDFile(pcd_path, cloud); + convertPCL2PointCloud2(cloud, *origin_input_msg_ptr); origin_input_msg_ptr->header.frame_id = "velodyne_top"; // input cloud frame MUST be base_link From c32680a51ad6c4fe1c7791608afdc38b1ec108d0 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Wed, 3 Jul 2024 13:58:07 +0900 Subject: [PATCH 029/306] chore: add maintainers to the apollo related packages (#7799) Signed-off-by: Kenzo Lobos-Tsunekawa --- perception/lidar_apollo_instance_segmentation/package.xml | 1 + perception/lidar_apollo_segmentation_tvm/package.xml | 2 +- perception/lidar_apollo_segmentation_tvm_nodes/package.xml | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/perception/lidar_apollo_instance_segmentation/package.xml b/perception/lidar_apollo_instance_segmentation/package.xml index 1157b7575933c..cf6f5a514aa0d 100755 --- a/perception/lidar_apollo_instance_segmentation/package.xml +++ b/perception/lidar_apollo_instance_segmentation/package.xml @@ -4,6 +4,7 @@ lidar_apollo_instance_segmentation 0.1.0 lidar_apollo_instance_segmentation + Yoshi Ri Yukihiro Saito Apache License 2.0 diff --git a/perception/lidar_apollo_segmentation_tvm/package.xml b/perception/lidar_apollo_segmentation_tvm/package.xml index 643a331e54a5a..ca4f3d2645cb9 100755 --- a/perception/lidar_apollo_segmentation_tvm/package.xml +++ b/perception/lidar_apollo_segmentation_tvm/package.xml @@ -5,7 +5,7 @@ 0.1.0 lidar_apollo_segmentation_tvm Ambroise Vincent - Xinyu Wang + Yoshi Ri Apache 2.0 ament_cmake_auto diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/package.xml b/perception/lidar_apollo_segmentation_tvm_nodes/package.xml index b6c6cb261eb29..7d3ac6fbe5ac7 100755 --- a/perception/lidar_apollo_segmentation_tvm_nodes/package.xml +++ b/perception/lidar_apollo_segmentation_tvm_nodes/package.xml @@ -5,7 +5,7 @@ 0.1.0 lidar_apollo_segmentation_tvm_nodes Ambroise Vincent - Xinyu Wang + Yoshi Ri Apache 2.0 ament_cmake From 813e66faaa0215764c1c8d6e8daaad5e8ffa2c4a Mon Sep 17 00:00:00 2001 From: ralwing <58466562+ralwing@users.noreply.github.com> Date: Wed, 3 Jul 2024 08:46:48 +0200 Subject: [PATCH 030/306] feat(pointcloud_preprocessor): runtime configurable output topic qos (#6658) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * feat(pointcloud_preprocessor): runtime configurable output topic qos Signed-off-by: Grzegorz GÅ‚owacki * configurable qos in livox_tag_filter_node Signed-off-by: Grzegorz GÅ‚owacki * configurable qos in radar_scan_to_pointcloud2 Signed-off-by: Grzegorz GÅ‚owacki --------- Signed-off-by: Grzegorz GÅ‚owacki --- .../src/livox_tag_filter_node.cpp | 10 +++++++--- .../concatenate_and_time_sync_nodelet.cpp | 9 +++++++-- .../src/concatenate_data/concatenate_pointclouds.cpp | 4 +++- .../src/crop_box_filter/crop_box_filter_nodelet.cpp | 6 ++++-- .../distortion_corrector/distortion_corrector.cpp | 11 +++++++---- sensing/pointcloud_preprocessor/src/filter.cpp | 4 +++- .../dual_return_outlier_filter_nodelet.cpp | 9 ++++++--- .../outlier_filter/ring_outlier_filter_nodelet.cpp | 8 ++++++-- .../time_synchronizer/time_synchronizer_nodelet.cpp | 4 +++- .../lanelet2_map_filter_nodelet.cpp | 4 +++- .../radar_scan_to_pointcloud2_node.cpp | 12 +++++++++--- 11 files changed, 58 insertions(+), 23 deletions(-) diff --git a/sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.cpp b/sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.cpp index 10da7b931f4ae..c6d5f63e62322 100644 --- a/sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.cpp +++ b/sensing/livox/autoware_livox_tag_filter/src/livox_tag_filter_node.cpp @@ -47,9 +47,13 @@ LivoxTagFilterNode::LivoxTagFilterNode(const rclcpp::NodeOptions & node_options) sub_pointcloud_ = this->create_subscription( "input", rclcpp::SensorDataQoS(), std::bind(&LivoxTagFilterNode::onPointCloud, this, _1)); - // Publisher - pub_pointcloud_ = - this->create_publisher("output", rclcpp::SensorDataQoS()); + { + // Publisher + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); + pub_pointcloud_ = this->create_publisher( + "output", rclcpp::SensorDataQoS(), pub_options); + } } void LivoxTagFilterNode::onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index a45de33d0d4c7..9a13f57a87b72 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -140,8 +140,10 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro // Output Publishers { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); pub_output_ = this->create_publisher( - "output", rclcpp::SensorDataQoS().keep_last(maximum_queue_size_)); + "output", rclcpp::SensorDataQoS().keep_last(maximum_queue_size_), pub_options); } // Subscribers @@ -191,10 +193,13 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro // Transformed Raw PointCloud2 Publisher to publish the transformed pointcloud if (publish_synchronized_pointcloud_) { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); + for (auto & topic : input_topics_) { std::string new_topic = replaceSyncTopicNamePostfix(topic, synchronized_pointcloud_postfix_); auto publisher = this->create_publisher( - new_topic, rclcpp::SensorDataQoS().keep_last(maximum_queue_size_)); + new_topic, rclcpp::SensorDataQoS().keep_last(maximum_queue_size_), pub_options); transformed_raw_pc_publisher_map_.insert({topic, publisher}); } } diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index b395acc1456f5..c2d185d1ed2c2 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -97,8 +97,10 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( // Output Publishers { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); pub_output_ = this->create_publisher( - "output", rclcpp::SensorDataQoS().keep_last(maximum_queue_size_)); + "output", rclcpp::SensorDataQoS().keep_last(maximum_queue_size_), pub_options); } // Subscribers diff --git a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp index e95caa8e28572..0e73d91f78133 100644 --- a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp @@ -87,8 +87,10 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio // set additional publishers { - crop_box_polygon_pub_ = - this->create_publisher("~/crop_box_polygon", 10); + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); + crop_box_polygon_pub_ = this->create_publisher( + "~/crop_box_polygon", 10, pub_options); } // set parameter service callback diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index 6ac11f0ff9fa6..fb444c2e55018 100644 --- a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -40,10 +40,13 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt time_stamp_field_name_ = declare_parameter("time_stamp_field_name"); use_imu_ = declare_parameter("use_imu"); - // Publisher - undistorted_points_pub_ = - this->create_publisher("~/output/pointcloud", rclcpp::SensorDataQoS()); - + { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); + // Publisher + undistorted_points_pub_ = this->create_publisher( + "~/output/pointcloud", rclcpp::SensorDataQoS(), pub_options); + } // Subscriber twist_sub_ = this->create_subscription( "~/input/twist", 10, diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp index b535da896ce77..b306e23af5e8e 100644 --- a/sensing/pointcloud_preprocessor/src/filter.cpp +++ b/sensing/pointcloud_preprocessor/src/filter.cpp @@ -89,8 +89,10 @@ pointcloud_preprocessor::Filter::Filter( // Set publisher { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); pub_output_ = this->create_publisher( - "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_)); + "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_), pub_options); } subscribe(filter_name); diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index d17abafcde4ed..7da38e47a16df 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -67,9 +67,12 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( image_transport::create_publisher(this, "dual_return_outlier_filter/debug/frequency_image"); visibility_pub_ = create_publisher( "dual_return_outlier_filter/debug/visibility", rclcpp::SensorDataQoS()); - noise_cloud_pub_ = create_publisher( - "dual_return_outlier_filter/debug/pointcloud_noise", rclcpp::SensorDataQoS()); - + { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); + noise_cloud_pub_ = create_publisher( + "dual_return_outlier_filter/debug/pointcloud_noise", rclcpp::SensorDataQoS(), pub_options); + } using std::placeholders::_1; set_param_res_ = this->add_on_set_parameters_callback( std::bind(&DualReturnOutlierFilterComponent::paramCallback, this, _1)); diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp index 3bc43df2e4557..28fbc11b77180 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp @@ -33,8 +33,12 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions using autoware::universe_utils::StopWatch; stop_watch_ptr_ = std::make_unique>(); debug_publisher_ = std::make_unique(this, "ring_outlier_filter"); - outlier_pointcloud_publisher_ = - this->create_publisher("debug/ring_outlier_filter", 1); + { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); + outlier_pointcloud_publisher_ = + this->create_publisher("debug/ring_outlier_filter", 1, pub_options); + } visibility_pub_ = create_publisher( "ring_outlier_filter/debug/visibility", rclcpp::SensorDataQoS()); stop_watch_ptr_->tic("cyclic_time"); diff --git a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp index 31d080da64f33..a2e70d0f7ead9 100644 --- a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp @@ -160,10 +160,12 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( // Transformed Raw PointCloud2 Publisher { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); for (auto & topic : input_topics_) { std::string new_topic = replaceSyncTopicNamePostfix(topic, synchronized_pointcloud_postfix); auto publisher = this->create_publisher( - new_topic, rclcpp::SensorDataQoS().keep_last(maximum_queue_size_)); + new_topic, rclcpp::SensorDataQoS().keep_last(maximum_queue_size_), pub_options); transformed_raw_pc_publisher_map_.insert({topic, publisher}); } } diff --git a/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp index a44eeea3879fc..b249aa683d81a 100644 --- a/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp @@ -45,8 +45,10 @@ Lanelet2MapFilterComponent::Lanelet2MapFilterComponent(const rclcpp::NodeOptions // Set publisher { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); filtered_pointcloud_pub_ = - this->create_publisher("output", rclcpp::SensorDataQoS()); + this->create_publisher("output", rclcpp::SensorDataQoS(), pub_options); } // Set subscriber diff --git a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp index b182147468262..8874b744bced6 100644 --- a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp +++ b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp @@ -111,9 +111,15 @@ RadarScanToPointcloud2Node::RadarScanToPointcloud2Node(const rclcpp::NodeOptions sub_radar_ = create_subscription( "~/input/radar", rclcpp::QoS{1}, std::bind(&RadarScanToPointcloud2Node::onData, this, _1)); - // Publisher - pub_amplitude_pointcloud_ = create_publisher("~/output/amplitude_pointcloud", 1); - pub_doppler_pointcloud_ = create_publisher("~/output/doppler_pointcloud", 1); + { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); + // Publisher + pub_amplitude_pointcloud_ = + create_publisher("~/output/amplitude_pointcloud", 1, pub_options); + pub_doppler_pointcloud_ = + create_publisher("~/output/doppler_pointcloud", 1, pub_options); + } } rcl_interfaces::msg::SetParametersResult RadarScanToPointcloud2Node::onSetParam( From 3ae6a1a05d207dcfac024805c78fe0cc9738cca5 Mon Sep 17 00:00:00 2001 From: Ariiees Date: Mon, 22 Jul 2024 11:10:00 -0400 Subject: [PATCH 031/306] merger suggestion RP Signed-off-by: Ariiees --- .../pointcloud_preprocessor/CMakeLists.txt | 4 + .../distortion_corrector_node.param.yaml | 5 + .../docs/distortion-corrector.md | 41 +- .../distortion_corrector.hpp | 142 +++-- .../distortion_corrector_node.hpp | 65 +++ .../distortion_corrector_node.launch.xml | 16 + sensing/pointcloud_preprocessor/package.xml | 1 + .../distortion_corrector_node.schema.json | 40 ++ .../distortion_corrector.cpp | 515 ++++++++++-------- .../distortion_corrector_node.cpp | 124 +++++ .../test/test_distortion_corrector.py | 2 +- ...test_distortion_corrector_use_imu_false.py | 6 +- 12 files changed, 692 insertions(+), 269 deletions(-) create mode 100644 sensing/pointcloud_preprocessor/config/distortion_corrector_node.param.yaml create mode 100644 sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp create mode 100644 sensing/pointcloud_preprocessor/launch/distortion_corrector_node.launch.xml create mode 100644 sensing/pointcloud_preprocessor/schema/distortion_corrector_node.schema.json create mode 100644 sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt index df62f538e9964..dd73f28a41f3c 100644 --- a/sensing/pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/pointcloud_preprocessor/CMakeLists.txt @@ -9,6 +9,7 @@ set(CGAL_DATA_DIR ".") find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) +find_package(Sophus REQUIRED) find_package(Boost REQUIRED) find_package(PCL REQUIRED) find_package(CGAL REQUIRED COMPONENTS Core) @@ -19,6 +20,7 @@ include_directories( ${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} + ${Sophus_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) @@ -76,6 +78,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp src/vector_map_filter/lanelet2_map_filter_nodelet.cpp src/distortion_corrector/distortion_corrector.cpp + src/distortion_corrector/distortion_corrector_node.cpp src/blockage_diag/blockage_diag_nodelet.cpp src/polygon_remover/polygon_remover.cpp src/vector_map_filter/vector_map_inside_area_filter.cpp @@ -86,6 +89,7 @@ target_link_libraries(pointcloud_preprocessor_filter faster_voxel_grid_downsample_filter ${Boost_LIBRARIES} ${OpenCV_LIBRARIES} + ${Sophus_LIBRARIES} ${PCL_LIBRARIES} ) diff --git a/sensing/pointcloud_preprocessor/config/distortion_corrector_node.param.yaml b/sensing/pointcloud_preprocessor/config/distortion_corrector_node.param.yaml new file mode 100644 index 0000000000000..3afa4816271cb --- /dev/null +++ b/sensing/pointcloud_preprocessor/config/distortion_corrector_node.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + base_frame: base_link + use_imu: true + use_3d_distortion_correction: false diff --git a/sensing/pointcloud_preprocessor/docs/distortion-corrector.md b/sensing/pointcloud_preprocessor/docs/distortion-corrector.md index 02f977dcc2cb8..96124f473f825 100644 --- a/sensing/pointcloud_preprocessor/docs/distortion-corrector.md +++ b/sensing/pointcloud_preprocessor/docs/distortion-corrector.md @@ -2,20 +2,17 @@ ## Purpose -The `distortion_corrector` is a node that compensates pointcloud distortion caused by ego vehicle's movement during 1 scan. +The `distortion_corrector` is a node that compensates for pointcloud distortion caused by the ego-vehicle's movement during one scan. -Since the LiDAR sensor scans by rotating an internal laser, the resulting point cloud will be distorted if the ego-vehicle moves during a single scan (as shown by the figure below). The node corrects this by interpolating sensor data using odometry of ego-vehicle. +Since the LiDAR sensor scans by rotating an internal laser, the resulting point cloud will be distorted if the ego-vehicle moves during a single scan (as shown by the figure below). The node corrects this by interpolating sensor data using the odometry of the ego-vehicle. ## Inner-workings / Algorithms -- Use the equations below (specific to the Velodyne 32C sensor) to obtain an accurate timestamp for each scan data point. -- Use twist information to determine the distance the ego-vehicle has traveled between the time that the scan started and the corrected timestamp of each point, and then correct the position of the point. +The node uses twist information (linear and angular velocity) from the `~/input/twist` topic to correct each point in the point cloud. If the user sets `use_imu` to true, the node will replace the twist's angular velocity with the angular velocity from IMU. -The offset equation is given by -$ TimeOffset = (55.296 \mu s _SequenceIndex) + (2.304 \mu s_ DataPointIndex) $ +The node supports two different modes of distortion correction: 2D distortion correction and 3D distortion correction. The main difference is that the 2D distortion corrector only utilizes the x-axis of linear velocity and the z-axis of angular velocity to correct the point positions. On the other hand, the 3D distortion corrector utilizes all linear and angular velocity components to correct the point positions. -To calculate the exact point time, add the TimeOffset to the timestamp. -$ ExactPointTime = TimeStamp + TimeOffset $ +Please note that the processing time difference between the two distortion methods is significant; the 3D corrector takes 50% more time than the 2D corrector. Therefore, it is recommended that in general cases, users should set `use_3d_distortion_correction` to `false`. However, in scenarios such as a vehicle going over speed bumps, using the 3D corrector can be beneficial. ![distortion corrector figure](./image/distortion_corrector.jpg) @@ -23,17 +20,17 @@ $ ExactPointTime = TimeStamp + TimeOffset $ ### Input -| Name | Type | Description | -| ---------------- | ------------------------------------------------ | ---------------- | -| `~/input/points` | `sensor_msgs::msg::PointCloud2` | reference points | -| `~/input/twist` | `geometry_msgs::msg::TwistWithCovarianceStamped` | twist | -| `~/input/imu` | `sensor_msgs::msg::Imu` | imu data | +| Name | Type | Description | +| -------------------- | ------------------------------------------------ | ---------------------------------- | +| `~/input/pointcloud` | `sensor_msgs::msg::PointCloud2` | Topic of the distorted pointcloud. | +| `~/input/twist` | `geometry_msgs::msg::TwistWithCovarianceStamped` | Topic of the twist information. | +| `~/input/imu` | `sensor_msgs::msg::Imu` | Topic of the IMU data. | ### Output -| Name | Type | Description | -| ----------------- | ------------------------------- | --------------- | -| `~/output/points` | `sensor_msgs::msg::PointCloud2` | filtered points | +| Name | Type | Description | +| --------------------- | ------------------------------- | ----------------------------------- | +| `~/output/pointcloud` | `sensor_msgs::msg::PointCloud2` | Topic of the undistorted pointcloud | ## Parameters @@ -41,9 +38,13 @@ $ ExactPointTime = TimeStamp + TimeOffset $ {{ json_to_markdown("sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json") }} -| Name | Type | Default Value | Description | -| ---------------------- | ------ | ------------- | ----------------------------------------------------------- | -| `timestamp_field_name` | string | "time_stamp" | time stamp field name | -| `use_imu` | bool | true | use gyroscope for yaw rate if true, else use vehicle status | +## Launch + +```bash +ros2 launch pointcloud_preprocessor distortion_corrector.launch.xml +``` ## Assumptions / Known limits + +- The node requires time synchronization between the topics from lidars, twist, and IMU. +- If you want to use a 3D distortion corrector without IMU, please check that the linear and angular velocity fields of your twist message are not empty. diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp index 80abba9b5d1a5..6f372f0e74646 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -15,7 +15,9 @@ #ifndef POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_HPP_ #define POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_HPP_ +#include #include +#include #include #include @@ -33,54 +35,132 @@ #endif #include +#include #include -// Include tier4 autoware utils -#include -#include - #include #include #include namespace pointcloud_preprocessor { -using rcl_interfaces::msg::SetParametersResult; -using sensor_msgs::msg::PointCloud2; -class DistortionCorrectorComponent : public rclcpp::Node +class DistortionCorrectorBase { public: - explicit DistortionCorrectorComponent(const rclcpp::NodeOptions & options); + virtual void processTwistMessage( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) = 0; + virtual void processIMUMessage( + const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) = 0; + virtual void setPointCloudTransform( + const std::string & base_frame, const std::string & lidar_frame) = 0; + virtual void initialize() = 0; + virtual void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) = 0; +}; -private: - void onPointCloud(PointCloud2::UniquePtr points_msg); - void onTwistWithCovarianceStamped( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); - void onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); - bool getTransform( - const std::string & target_frame, const std::string & source_frame, - tf2::Transform * tf2_transform_ptr); +template +class DistortionCorrector : public DistortionCorrectorBase +{ +public: + bool pointcloud_transform_needed_{false}; + bool pointcloud_transform_exists_{false}; + bool imu_transform_exists_{false}; + rclcpp::Node * node_; + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; - bool undistortPointCloud(const tf2::Transform & tf2_base_link_to_sensor, PointCloud2 & points); + std::deque twist_queue_; + std::deque angular_velocity_queue_; + + explicit DistortionCorrector(rclcpp::Node * node) + : node_(node), tf_buffer_(node_->get_clock()), tf_listener_(tf_buffer_) + { + } + void processTwistMessage( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) override; + + void processIMUMessage( + const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) override; + void getIMUTransformation( + const std::string & base_frame, const std::string & imu_frame, + geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr); + void enqueueIMU( + const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg, + geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr); + + bool isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud); + void getTwistAndIMUIterator( + bool use_imu, double first_point_time_stamp_sec, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu); + void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) override; + void warnIfTimestampIsTooLate(bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late); + void undistortPoint( + sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, + sensor_msgs::PointCloud2Iterator & it_z, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu, float const & time_offset, + const bool & is_twist_valid, const bool & is_imu_valid) + { + static_cast(this)->undistortPointImplementation( + it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); + }; +}; - rclcpp::Subscription::SharedPtr input_points_sub_; - rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription::SharedPtr twist_sub_; - rclcpp::Publisher::SharedPtr undistorted_points_pub_; +class DistortionCorrector2D : public DistortionCorrector +{ +private: + // defined outside of for loop for performance reasons. + tf2::Quaternion baselink_quat_; + tf2::Transform baselink_tf_odom_; + tf2::Vector3 point_tf_; + tf2::Vector3 undistorted_point_tf_; + float theta_; + float x_; + float y_; + + // TF + tf2::Transform tf2_lidar_to_base_link_; + tf2::Transform tf2_base_link_to_lidar_; - std::unique_ptr> stop_watch_ptr_; - std::unique_ptr debug_publisher_; +public: + explicit DistortionCorrector2D(rclcpp::Node * node) : DistortionCorrector(node) {} + void initialize() override; + void undistortPointImplementation( + sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, + sensor_msgs::PointCloud2Iterator & it_z, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu, const float & time_offset, + const bool & is_twist_valid, const bool & is_imu_valid); + + void setPointCloudTransform( + const std::string & base_frame, const std::string & lidar_frame) override; +}; - tf2_ros::Buffer tf2_buffer_{get_clock()}; - tf2_ros::TransformListener tf2_listener_{tf2_buffer_}; +class DistortionCorrector3D : public DistortionCorrector +{ +private: + // defined outside of for loop for performance reasons. + Eigen::Vector4f point_eigen_; + Eigen::Vector4f undistorted_point_eigen_; + Eigen::Matrix4f transformation_matrix_; + Eigen::Matrix4f prev_transformation_matrix_; - std::deque twist_queue_; - std::deque angular_velocity_queue_; + // TF + Eigen::Matrix4f eigen_lidar_to_base_link_; + Eigen::Matrix4f eigen_base_link_to_lidar_; - std::string base_link_frame_ = "base_link"; - std::string time_stamp_field_name_; - bool use_imu_; +public: + explicit DistortionCorrector3D(rclcpp::Node * node) : DistortionCorrector(node) {} + void initialize() override; + void undistortPointImplementation( + sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, + sensor_msgs::PointCloud2Iterator & it_z, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu, const float & time_offset, + const bool & is_twist_valid, const bool & is_imu_valid); + void setPointCloudTransform( + const std::string & base_frame, const std::string & lidar_frame) override; }; } // namespace pointcloud_preprocessor diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp new file mode 100644 index 0000000000000..162170b193827 --- /dev/null +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp @@ -0,0 +1,65 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ +#define POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ + +#include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +namespace pointcloud_preprocessor +{ +using rcl_interfaces::msg::SetParametersResult; +using sensor_msgs::msg::PointCloud2; + +class DistortionCorrectorComponent : public rclcpp::Node +{ +public: + explicit DistortionCorrectorComponent(const rclcpp::NodeOptions & options); + +private: + rclcpp::Subscription::SharedPtr twist_sub_; + rclcpp::Subscription::SharedPtr imu_sub_; + rclcpp::Subscription::SharedPtr pointcloud_sub_; + + rclcpp::Publisher::SharedPtr undistorted_pointcloud_pub_; + + std::unique_ptr> stop_watch_ptr_; + std::unique_ptr debug_publisher_; + + std::string base_frame_; + bool use_imu_; + bool use_3d_distortion_correction_; + + std::unique_ptr distortion_corrector_; + + void onPointCloud(PointCloud2::UniquePtr points_msg); + void onTwist(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); + void onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); +}; + +} // namespace pointcloud_preprocessor + +#endif // POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ diff --git a/sensing/pointcloud_preprocessor/launch/distortion_corrector_node.launch.xml b/sensing/pointcloud_preprocessor/launch/distortion_corrector_node.launch.xml new file mode 100644 index 0000000000000..d970aae102264 --- /dev/null +++ b/sensing/pointcloud_preprocessor/launch/distortion_corrector_node.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/sensing/pointcloud_preprocessor/package.xml b/sensing/pointcloud_preprocessor/package.xml index c4398ab8d01ac..3eea0f3e2eb9a 100644 --- a/sensing/pointcloud_preprocessor/package.xml +++ b/sensing/pointcloud_preprocessor/package.xml @@ -42,6 +42,7 @@ rclcpp rclcpp_components sensor_msgs + sophus std_msgs tf2 tf2_eigen diff --git a/sensing/pointcloud_preprocessor/schema/distortion_corrector_node.schema.json b/sensing/pointcloud_preprocessor/schema/distortion_corrector_node.schema.json new file mode 100644 index 0000000000000..acf67fd2746c4 --- /dev/null +++ b/sensing/pointcloud_preprocessor/schema/distortion_corrector_node.schema.json @@ -0,0 +1,40 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Distortion Corrector Node", + "type": "object", + "definitions": { + "distortion_corrector": { + "type": "object", + "properties": { + "base_frame": { + "type": "string", + "description": "The undistortion algorithm is based on a base frame, which must be the same as the twist frame.", + "default": "base_link" + }, + "use_imu": { + "type": "boolean", + "description": "Use IMU angular velocity, otherwise, use twist angular velocity.", + "default": "true" + }, + "use_3d_distortion_correction": { + "type": "boolean", + "description": "Use 3d distortion correction algorithm, otherwise, use 2d distortion correction algorithm.", + "default": "false" + } + }, + "required": ["base_frame", "use_imu", "use_3d_distortion_correction"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/distortion_corrector" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index fb444c2e55018..81c29a9f6202a 100644 --- a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -16,51 +16,12 @@ #include "autoware/universe_utils/math/trigonometry.hpp" -#include -#include -#include +#include namespace pointcloud_preprocessor { -/** @brief Constructor. */ -DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOptions & options) -: Node("distortion_corrector_node", options) -{ - // initialize debug tool - { - using autoware::universe_utils::DebugPublisher; - using autoware::universe_utils::StopWatch; - stop_watch_ptr_ = std::make_unique>(); - debug_publisher_ = std::make_unique(this, "distortion_corrector"); - stop_watch_ptr_->tic("cyclic_time"); - stop_watch_ptr_->tic("processing_time"); - } - - // Parameter - time_stamp_field_name_ = declare_parameter("time_stamp_field_name"); - use_imu_ = declare_parameter("use_imu"); - - { - rclcpp::PublisherOptions pub_options; - pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); - // Publisher - undistorted_points_pub_ = this->create_publisher( - "~/output/pointcloud", rclcpp::SensorDataQoS(), pub_options); - } - // Subscriber - twist_sub_ = this->create_subscription( - "~/input/twist", 10, - std::bind( - &DistortionCorrectorComponent::onTwistWithCovarianceStamped, this, std::placeholders::_1)); - imu_sub_ = this->create_subscription( - "~/input/imu", 10, - std::bind(&DistortionCorrectorComponent::onImu, this, std::placeholders::_1)); - input_points_sub_ = this->create_subscription( - "~/input/pointcloud", rclcpp::SensorDataQoS(), - std::bind(&DistortionCorrectorComponent::onPointCloud, this, std::placeholders::_1)); -} - -void DistortionCorrectorComponent::onTwistWithCovarianceStamped( +template +void DistortionCorrector::processTwistMessage( const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) { geometry_msgs::msg::TwistStamped msg; @@ -76,28 +37,66 @@ void DistortionCorrectorComponent::onTwistWithCovarianceStamped( rclcpp::Time(twist_queue_.front().header.stamp) < rclcpp::Time(twist_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { twist_queue_.pop_front(); + } else { + break; } - break; } } -void DistortionCorrectorComponent::onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) +template +void DistortionCorrector::processIMUMessage( + const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) +{ + geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr = + std::make_shared(); + getIMUTransformation(base_frame, imu_msg->header.frame_id, geometry_imu_to_base_link_ptr); + enqueueIMU(imu_msg, geometry_imu_to_base_link_ptr); +} + +template +void DistortionCorrector::getIMUTransformation( + const std::string & base_frame, const std::string & imu_frame, + geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr) { - if (!use_imu_) { + if (imu_transform_exists_) { return; } - tf2::Transform tf2_imu_link_to_base_link{}; - getTransform(base_link_frame_, imu_msg->header.frame_id, &tf2_imu_link_to_base_link); - geometry_msgs::msg::TransformStamped::SharedPtr tf_base2imu_ptr = - std::make_shared(); - tf_base2imu_ptr->transform.rotation = tf2::toMsg(tf2_imu_link_to_base_link.getRotation()); + tf2::Transform tf2_imu_to_base_link; + if (base_frame == imu_frame) { + tf2_imu_to_base_link.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); + tf2_imu_to_base_link.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); + imu_transform_exists_ = true; + } else { + try { + const auto transform_msg = + tf_buffer_.lookupTransform(base_frame, imu_frame, tf2::TimePointZero); + tf2::convert(transform_msg.transform, tf2_imu_to_base_link); + imu_transform_exists_ = true; + } catch (const tf2::TransformException & ex) { + RCLCPP_WARN(node_->get_logger(), "%s", ex.what()); + RCLCPP_ERROR( + node_->get_logger(), "Please publish TF %s to %s", base_frame.c_str(), imu_frame.c_str()); + + tf2_imu_to_base_link.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); + tf2_imu_to_base_link.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); + } + } + + geometry_imu_to_base_link_ptr->transform.rotation = + tf2::toMsg(tf2_imu_to_base_link.getRotation()); +} +template +void DistortionCorrector::enqueueIMU( + const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg, + geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr) +{ geometry_msgs::msg::Vector3Stamped angular_velocity; angular_velocity.vector = imu_msg->angular_velocity; geometry_msgs::msg::Vector3Stamped transformed_angular_velocity; - tf2::doTransform(angular_velocity, transformed_angular_velocity, *tf_base2imu_ptr); + tf2::doTransform(angular_velocity, transformed_angular_velocity, *geometry_imu_to_base_link_ptr); transformed_angular_velocity.header = imu_msg->header; angular_velocity_queue_.push_back(transformed_angular_velocity); @@ -111,226 +110,310 @@ void DistortionCorrectorComponent::onImu(const sensor_msgs::msg::Imu::ConstShare rclcpp::Time(angular_velocity_queue_.front().header.stamp) < rclcpp::Time(imu_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { angular_velocity_queue_.pop_front(); + } else { + break; } - break; - } -} - -void DistortionCorrectorComponent::onPointCloud(PointCloud2::UniquePtr points_msg) -{ - stop_watch_ptr_->toc("processing_time", true); - const auto points_sub_count = undistorted_points_pub_->get_subscription_count() + - undistorted_points_pub_->get_intra_process_subscription_count(); - - if (points_sub_count < 1) { - return; - } - - tf2::Transform tf2_base_link_to_sensor{}; - getTransform(points_msg->header.frame_id, base_link_frame_, &tf2_base_link_to_sensor); - - undistortPointCloud(tf2_base_link_to_sensor, *points_msg); - - if (debug_publisher_) { - auto pipeline_latency_ms = - std::chrono::duration( - std::chrono::nanoseconds( - (this->get_clock()->now() - points_msg->header.stamp).nanoseconds())) - .count(); - debug_publisher_->publish( - "debug/pipeline_latency_ms", pipeline_latency_ms); - } - - undistorted_points_pub_->publish(std::move(points_msg)); - - // add processing time for debug - if (debug_publisher_) { - const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true); - const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true); - debug_publisher_->publish( - "debug/cyclic_time_ms", cyclic_time_ms); - debug_publisher_->publish( - "debug/processing_time_ms", processing_time_ms); } } -bool DistortionCorrectorComponent::getTransform( - const std::string & target_frame, const std::string & source_frame, - tf2::Transform * tf2_transform_ptr) +template +void DistortionCorrector::getTwistAndIMUIterator( + bool use_imu, double first_point_time_stamp_sec, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu) { - if (target_frame == source_frame) { - tf2_transform_ptr->setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); - tf2_transform_ptr->setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); - return true; - } - - try { - const auto transform_msg = - tf2_buffer_.lookupTransform(target_frame, source_frame, tf2::TimePointZero); - tf2::convert(transform_msg.transform, *tf2_transform_ptr); - } catch (const tf2::TransformException & ex) { - RCLCPP_WARN(get_logger(), "%s", ex.what()); - RCLCPP_ERROR( - get_logger(), "Please publish TF %s to %s", target_frame.c_str(), source_frame.c_str()); + it_twist = std::lower_bound( + std::begin(twist_queue_), std::end(twist_queue_), first_point_time_stamp_sec, + [](const geometry_msgs::msg::TwistStamped & x, const double t) { + return rclcpp::Time(x.header.stamp).seconds() < t; + }); + it_twist = it_twist == std::end(twist_queue_) ? std::end(twist_queue_) - 1 : it_twist; - tf2_transform_ptr->setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); - tf2_transform_ptr->setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); - return false; + if (use_imu && !angular_velocity_queue_.empty()) { + it_imu = std::lower_bound( + std::begin(angular_velocity_queue_), std::end(angular_velocity_queue_), + first_point_time_stamp_sec, [](const geometry_msgs::msg::Vector3Stamped & x, const double t) { + return rclcpp::Time(x.header.stamp).seconds() < t; + }); + it_imu = + it_imu == std::end(angular_velocity_queue_) ? std::end(angular_velocity_queue_) - 1 : it_imu; } - return true; } -bool DistortionCorrectorComponent::undistortPointCloud( - const tf2::Transform & tf2_base_link_to_sensor, PointCloud2 & points) +template +bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud) { - if (points.data.empty() || twist_queue_.empty()) { + if (pointcloud.data.empty() || twist_queue_.empty()) { RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *get_clock(), 10000 /* ms */, - "input_pointcloud->points or twist_queue_ is empty."); + node_->get_logger(), *node_->get_clock(), 10000 /* ms */, + "input pointcloud or twist_queue_ is empty."); return false; } auto time_stamp_field_it = std::find_if( - std::cbegin(points.fields), std::cend(points.fields), - [this](const sensor_msgs::msg::PointField & field) { - return field.name == time_stamp_field_name_; - }); - if (time_stamp_field_it == points.fields.cend()) { + std::cbegin(pointcloud.fields), std::cend(pointcloud.fields), + [](const sensor_msgs::msg::PointField & field) { return field.name == "time_stamp"; }); + if (time_stamp_field_it == pointcloud.fields.cend()) { RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *get_clock(), 10000 /* ms */, + node_->get_logger(), *node_->get_clock(), 10000 /* ms */, "Required field time stamp doesn't exist in the point cloud."); return false; } + return true; +} + +template +void DistortionCorrector::undistortPointCloud( + bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) +{ + if (!isInputValid(pointcloud)) return; - sensor_msgs::PointCloud2Iterator it_x(points, "x"); - sensor_msgs::PointCloud2Iterator it_y(points, "y"); - sensor_msgs::PointCloud2Iterator it_z(points, "z"); - sensor_msgs::PointCloud2ConstIterator it_time_stamp(points, time_stamp_field_name_); + sensor_msgs::PointCloud2Iterator it_x(pointcloud, "x"); + sensor_msgs::PointCloud2Iterator it_y(pointcloud, "y"); + sensor_msgs::PointCloud2Iterator it_z(pointcloud, "z"); + sensor_msgs::PointCloud2ConstIterator it_time_stamp(pointcloud, "time_stamp"); - float theta{0.0f}; - float x{0.0f}; - float y{0.0f}; double prev_time_stamp_sec{*it_time_stamp}; const double first_point_time_stamp_sec{*it_time_stamp}; - auto twist_it = std::lower_bound( - std::begin(twist_queue_), std::end(twist_queue_), first_point_time_stamp_sec, - [](const geometry_msgs::msg::TwistStamped & x, const double t) { - return rclcpp::Time(x.header.stamp).seconds() < t; - }); - twist_it = twist_it == std::end(twist_queue_) ? std::end(twist_queue_) - 1 : twist_it; - - decltype(angular_velocity_queue_)::iterator imu_it; - if (use_imu_ && !angular_velocity_queue_.empty()) { - imu_it = std::lower_bound( - std::begin(angular_velocity_queue_), std::end(angular_velocity_queue_), - first_point_time_stamp_sec, [](const geometry_msgs::msg::Vector3Stamped & x, const double t) { - return rclcpp::Time(x.header.stamp).seconds() < t; - }); - imu_it = - imu_it == std::end(angular_velocity_queue_) ? std::end(angular_velocity_queue_) - 1 : imu_it; - } - - const tf2::Transform tf2_base_link_to_sensor_inv{tf2_base_link_to_sensor.inverse()}; - - // For performance, do not instantiate `rclcpp::Time` inside of the for-loop - double twist_stamp = rclcpp::Time(twist_it->header.stamp).seconds(); - - // For performance, instantiate outside of the for-loop - tf2::Quaternion baselink_quat{}; - tf2::Transform baselink_tf_odom{}; - tf2::Vector3 point{}; - tf2::Vector3 undistorted_point{}; - - // For performance, avoid transform computation if unnecessary - bool need_transform = points.header.frame_id != base_link_frame_; + std::deque::iterator it_twist; + std::deque::iterator it_imu; + getTwistAndIMUIterator(use_imu, first_point_time_stamp_sec, it_twist, it_imu); // For performance, do not instantiate `rclcpp::Time` inside of the for-loop + double twist_stamp = rclcpp::Time(it_twist->header.stamp).seconds(); double imu_stamp{0.0}; - if (use_imu_ && !angular_velocity_queue_.empty()) { - imu_stamp = rclcpp::Time(imu_it->header.stamp).seconds(); + if (use_imu && !angular_velocity_queue_.empty()) { + imu_stamp = rclcpp::Time(it_imu->header.stamp).seconds(); } - // If there is a point that cannot be associated, record it to issue a warning - bool twist_time_stamp_is_too_late = false; - bool imu_time_stamp_is_too_late = false; + // If there is a point in a pointcloud that cannot be associated, record it to issue a warning + bool is_twist_time_stamp_too_late = false; + bool is_imu_time_stamp_too_late = false; + bool is_twist_valid = true; + bool is_imu_valid = true; for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_time_stamp) { - while (twist_it != std::end(twist_queue_) - 1 && *it_time_stamp > twist_stamp) { - ++twist_it; - twist_stamp = rclcpp::Time(twist_it->header.stamp).seconds(); - } - - float v{static_cast(twist_it->twist.linear.x)}; - float w{static_cast(twist_it->twist.angular.z)}; + is_twist_valid = true; + is_imu_valid = true; + // Get closest twist information + while (it_twist != std::end(twist_queue_) - 1 && *it_time_stamp > twist_stamp) { + ++it_twist; + twist_stamp = rclcpp::Time(it_twist->header.stamp).seconds(); + } if (std::abs(*it_time_stamp - twist_stamp) > 0.1) { - twist_time_stamp_is_too_late = true; - v = 0.0f; - w = 0.0f; + is_twist_time_stamp_too_late = true; + is_twist_valid = false; } - if (use_imu_ && !angular_velocity_queue_.empty()) { - while (imu_it != std::end(angular_velocity_queue_) - 1 && *it_time_stamp > imu_stamp) { - ++imu_it; - imu_stamp = rclcpp::Time(imu_it->header.stamp).seconds(); + // Get closest IMU information + if (use_imu && !angular_velocity_queue_.empty()) { + while (it_imu != std::end(angular_velocity_queue_) - 1 && *it_time_stamp > imu_stamp) { + ++it_imu; + imu_stamp = rclcpp::Time(it_imu->header.stamp).seconds(); } if (std::abs(*it_time_stamp - imu_stamp) > 0.1) { - imu_time_stamp_is_too_late = true; - } else { - w = static_cast(imu_it->vector.z); + is_imu_time_stamp_too_late = true; + is_imu_valid = false; } + } else { + is_imu_valid = false; } - const auto time_offset = static_cast(*it_time_stamp - prev_time_stamp_sec); + float time_offset = static_cast(*it_time_stamp - prev_time_stamp_sec); - point.setValue(*it_x, *it_y, *it_z); + // Undistort a single point based on the strategy + undistortPoint(it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); - if (need_transform) { - point = tf2_base_link_to_sensor_inv * point; - } + prev_time_stamp_sec = *it_time_stamp; + } - theta += w * time_offset; - baselink_quat.setValue( - 0, 0, autoware::universe_utils::sin(theta * 0.5f), - autoware::universe_utils::cos(theta * 0.5f)); // baselink_quat.setRPY(0.0, 0.0, theta); - const float dis = v * time_offset; - x += dis * autoware::universe_utils::cos(theta); - y += dis * autoware::universe_utils::sin(theta); + warnIfTimestampIsTooLate(is_twist_time_stamp_too_late, is_imu_time_stamp_too_late); +} - baselink_tf_odom.setOrigin(tf2::Vector3(x, y, 0.0)); - baselink_tf_odom.setRotation(baselink_quat); +template +void DistortionCorrector::warnIfTimestampIsTooLate( + bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late) +{ + if (is_twist_time_stamp_too_late) { + RCLCPP_WARN_STREAM_THROTTLE( + node_->get_logger(), *node_->get_clock(), 10000 /* ms */, + "Twist time_stamp is too late. Could not interpolate."); + } - undistorted_point = baselink_tf_odom * point; + if (is_imu_time_stamp_too_late) { + RCLCPP_WARN_STREAM_THROTTLE( + node_->get_logger(), *node_->get_clock(), 10000 /* ms */, + "IMU time_stamp is too late. Could not interpolate."); + } +} - if (need_transform) { - undistorted_point = tf2_base_link_to_sensor * undistorted_point; +///////////////////////// Functions for different undistortion strategies ///////////////////////// + +void DistortionCorrector2D::initialize() +{ + x_ = 0.0f; + y_ = 0.0f; + theta_ = 0.0f; +} + +void DistortionCorrector3D::initialize() +{ + prev_transformation_matrix_ = Eigen::Matrix4f::Identity(); +} + +void DistortionCorrector2D::setPointCloudTransform( + const std::string & base_frame, const std::string & lidar_frame) +{ + if (pointcloud_transform_exists_) { + return; + } + + if (base_frame == lidar_frame) { + tf2_lidar_to_base_link_.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); + tf2_lidar_to_base_link_.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); + tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_; + pointcloud_transform_exists_ = true; + } else { + try { + const auto transform_msg = + tf_buffer_.lookupTransform(base_frame, lidar_frame, tf2::TimePointZero); + tf2::convert(transform_msg.transform, tf2_lidar_to_base_link_); + tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_.inverse(); + pointcloud_transform_exists_ = true; + pointcloud_transform_needed_ = true; + } catch (const tf2::TransformException & ex) { + RCLCPP_WARN(node_->get_logger(), "%s", ex.what()); + RCLCPP_ERROR( + node_->get_logger(), "Please publish TF %s to %s", base_frame.c_str(), lidar_frame.c_str()); + + tf2_lidar_to_base_link_.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); + tf2_lidar_to_base_link_.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); + tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_; } + } +} + +void DistortionCorrector3D::setPointCloudTransform( + const std::string & base_frame, const std::string & lidar_frame) +{ + if (pointcloud_transform_exists_) { + return; + } - *it_x = static_cast(undistorted_point.getX()); - *it_y = static_cast(undistorted_point.getY()); - *it_z = static_cast(undistorted_point.getZ()); + if (base_frame == lidar_frame) { + eigen_lidar_to_base_link_ = Eigen::Matrix4f::Identity(); + eigen_base_link_to_lidar_ = Eigen::Matrix4f::Identity(); + pointcloud_transform_exists_ = true; + } - prev_time_stamp_sec = *it_time_stamp; + try { + const auto transform_msg = + tf_buffer_.lookupTransform(base_frame, lidar_frame, tf2::TimePointZero); + eigen_lidar_to_base_link_ = + tf2::transformToEigen(transform_msg.transform).matrix().cast(); + eigen_base_link_to_lidar_ = eigen_lidar_to_base_link_.inverse(); + pointcloud_transform_exists_ = true; + pointcloud_transform_needed_ = true; + } catch (const tf2::TransformException & ex) { + RCLCPP_WARN(node_->get_logger(), "%s", ex.what()); + RCLCPP_ERROR( + node_->get_logger(), "Please publish TF %s to %s", base_frame.c_str(), lidar_frame.c_str()); + eigen_lidar_to_base_link_ = Eigen::Matrix4f::Identity(); + eigen_base_link_to_lidar_ = Eigen::Matrix4f::Identity(); } +} - if (twist_time_stamp_is_too_late) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *get_clock(), 10000 /* ms */, - "twist time_stamp is too late. Could not interpolate."); +inline void DistortionCorrector2D::undistortPointImplementation( + sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, + sensor_msgs::PointCloud2Iterator & it_z, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu, const float & time_offset, + const bool & is_twist_valid, const bool & is_imu_valid) +{ + // Initialize linear velocity and angular velocity + float v{0.0f}, w{0.0f}; + if (is_twist_valid) { + v = static_cast(it_twist->twist.linear.x); + w = static_cast(it_twist->twist.angular.z); + } + if (is_imu_valid) { + w = static_cast(it_imu->vector.z); } - if (imu_time_stamp_is_too_late) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *get_clock(), 10000 /* ms */, - "imu time_stamp is too late. Could not interpolate."); + // Undistort point + point_tf_.setValue(*it_x, *it_y, *it_z); + + if (pointcloud_transform_needed_) { + point_tf_ = tf2_lidar_to_base_link_ * point_tf_; } + theta_ += w * time_offset; + baselink_quat_.setValue( + 0, 0, autoware::universe_utils::sin(theta_ * 0.5f), + autoware::universe_utils::cos(theta_ * 0.5f)); // baselink_quat.setRPY(0.0, 0.0, theta); + const float dis = v * time_offset; + x_ += dis * autoware::universe_utils::cos(theta_); + y_ += dis * autoware::universe_utils::sin(theta_); - return true; + baselink_tf_odom_.setOrigin(tf2::Vector3(x_, y_, 0.0)); + baselink_tf_odom_.setRotation(baselink_quat_); + + undistorted_point_tf_ = baselink_tf_odom_ * point_tf_; + + if (pointcloud_transform_needed_) { + undistorted_point_tf_ = tf2_base_link_to_lidar_ * undistorted_point_tf_; + } + + *it_x = static_cast(undistorted_point_tf_.getX()); + *it_y = static_cast(undistorted_point_tf_.getY()); + *it_z = static_cast(undistorted_point_tf_.getZ()); } -} // namespace pointcloud_preprocessor +inline void DistortionCorrector3D::undistortPointImplementation( + sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, + sensor_msgs::PointCloud2Iterator & it_z, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu, const float & time_offset, + const bool & is_twist_valid, const bool & is_imu_valid) +{ + // Initialize linear velocity and angular velocity + float v_x_{0.0f}, v_y_{0.0f}, v_z_{0.0f}, w_x_{0.0f}, w_y_{0.0f}, w_z_{0.0f}; + if (is_twist_valid) { + v_x_ = static_cast(it_twist->twist.linear.x); + v_y_ = static_cast(it_twist->twist.linear.y); + v_z_ = static_cast(it_twist->twist.linear.z); + w_x_ = static_cast(it_twist->twist.angular.x); + w_y_ = static_cast(it_twist->twist.angular.y); + w_z_ = static_cast(it_twist->twist.angular.z); + } + if (is_imu_valid) { + w_x_ = static_cast(it_imu->vector.x); + w_y_ = static_cast(it_imu->vector.y); + w_z_ = static_cast(it_imu->vector.z); + } -#include -RCLCPP_COMPONENTS_REGISTER_NODE(pointcloud_preprocessor::DistortionCorrectorComponent) + // Undistort point + point_eigen_ << *it_x, *it_y, *it_z, 1.0; + if (pointcloud_transform_needed_) { + point_eigen_ = eigen_lidar_to_base_link_ * point_eigen_; + } + + Sophus::SE3f::Tangent twist(v_x_, v_y_, v_z_, w_x_, w_y_, w_z_); + twist = twist * time_offset; + transformation_matrix_ = Sophus::SE3f::exp(twist).matrix(); + transformation_matrix_ = transformation_matrix_ * prev_transformation_matrix_; + undistorted_point_eigen_ = transformation_matrix_ * point_eigen_; + + if (pointcloud_transform_needed_) { + undistorted_point_eigen_ = eigen_base_link_to_lidar_ * undistorted_point_eigen_; + } + *it_x = undistorted_point_eigen_[0]; + *it_y = undistorted_point_eigen_[1]; + *it_z = undistorted_point_eigen_[2]; + + prev_transformation_matrix_ = transformation_matrix_; +} + +} // namespace pointcloud_preprocessor diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp new file mode 100644 index 0000000000000..b5cf581301a23 --- /dev/null +++ b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp @@ -0,0 +1,124 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp" + +#include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" + +namespace pointcloud_preprocessor +{ +/** @brief Constructor. */ +DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOptions & options) +: Node("distortion_corrector_node", options) +{ + // initialize debug tool + + using autoware::universe_utils::DebugPublisher; + using autoware::universe_utils::StopWatch; + stop_watch_ptr_ = std::make_unique>(); + debug_publisher_ = std::make_unique(this, "distortion_corrector"); + stop_watch_ptr_->tic("cyclic_time"); + stop_watch_ptr_->tic("processing_time"); + + // Parameter + base_frame_ = declare_parameter("base_frame"); + use_imu_ = declare_parameter("use_imu"); + use_3d_distortion_correction_ = declare_parameter("use_3d_distortion_correction"); + + // Publisher + { + rclcpp::PublisherOptions pub_options; + pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); + // Publisher + undistorted_pointcloud_pub_ = this->create_publisher( + "~/output/pointcloud", rclcpp::SensorDataQoS(), pub_options); + } + + // Subscriber + twist_sub_ = this->create_subscription( + "~/input/twist", 10, + std::bind(&DistortionCorrectorComponent::onTwist, this, std::placeholders::_1)); + imu_sub_ = this->create_subscription( + "~/input/imu", 10, + std::bind(&DistortionCorrectorComponent::onImu, this, std::placeholders::_1)); + pointcloud_sub_ = this->create_subscription( + "~/input/pointcloud", rclcpp::SensorDataQoS(), + std::bind(&DistortionCorrectorComponent::onPointCloud, this, std::placeholders::_1)); + + // Setup the distortion corrector + + if (use_3d_distortion_correction_) { + distortion_corrector_ = std::make_unique(this); + } else { + distortion_corrector_ = std::make_unique(this); + } +} + +void DistortionCorrectorComponent::onTwist( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) +{ + distortion_corrector_->processTwistMessage(twist_msg); +} + +void DistortionCorrectorComponent::onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) +{ + if (!use_imu_) { + return; + } + + distortion_corrector_->processIMUMessage(base_frame_, imu_msg); +} + +void DistortionCorrectorComponent::onPointCloud(PointCloud2::UniquePtr pointcloud_msg) +{ + stop_watch_ptr_->toc("processing_time", true); + const auto points_sub_count = undistorted_pointcloud_pub_->get_subscription_count() + + undistorted_pointcloud_pub_->get_intra_process_subscription_count(); + + if (points_sub_count < 1) { + return; + } + + distortion_corrector_->setPointCloudTransform(base_frame_, pointcloud_msg->header.frame_id); + + distortion_corrector_->initialize(); + distortion_corrector_->undistortPointCloud(use_imu_, *pointcloud_msg); + + if (debug_publisher_) { + auto pipeline_latency_ms = + std::chrono::duration( + std::chrono::nanoseconds( + (this->get_clock()->now() - pointcloud_msg->header.stamp).nanoseconds())) + .count(); + debug_publisher_->publish( + "debug/pipeline_latency_ms", pipeline_latency_ms); + } + + undistorted_pointcloud_pub_->publish(std::move(pointcloud_msg)); + + // add processing time for debug + if (debug_publisher_) { + const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true); + const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true); + debug_publisher_->publish( + "debug/cyclic_time_ms", cyclic_time_ms); + debug_publisher_->publish( + "debug/processing_time_ms", processing_time_ms); + } +} + +} // namespace pointcloud_preprocessor + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(pointcloud_preprocessor::DistortionCorrectorComponent) diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector.py b/sensing/pointcloud_preprocessor/test/test_distortion_corrector.py index 5fdf434123c36..cc80da29e3c13 100644 --- a/sensing/pointcloud_preprocessor/test/test_distortion_corrector.py +++ b/sensing/pointcloud_preprocessor/test/test_distortion_corrector.py @@ -47,7 +47,7 @@ def generate_test_description(): plugin="pointcloud_preprocessor::DistortionCorrectorComponent", name="distortion_corrector_node", parameters=[ - {"use_imu": True}, + {"base_frame": "base_link", "use_imu": True, "use_3d_distortion_correction": False}, ], remappings=[ ("~/input/twist", "/test/sensing/vehicle_velocity_converter/twist_with_covariance"), diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_use_imu_false.py b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_use_imu_false.py index 5943aec13bca6..35eb41f9dbc17 100644 --- a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_use_imu_false.py +++ b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_use_imu_false.py @@ -46,7 +46,11 @@ def generate_test_description(): plugin="pointcloud_preprocessor::DistortionCorrectorComponent", name="distortion_corrector_node", parameters=[ - {"use_imu": False}, + { + "base_frame": "base_link", + "use_imu": False, + "use_3d_distortion_correction": False, + }, ], remappings=[ ("~/input/twist", "/test/sensing/vehicle_velocity_converter/twist_with_covariance"), From 11101dce1dd8bb8a99d17a3d7156282eb68f6a53 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 3 Jul 2024 18:07:27 +0900 Subject: [PATCH 032/306] refactor(ground_segmentation)!: fix namespace and directory structure (#7744) * refactor: update namespace in ground_segmentation files Signed-off-by: Taekjin LEE * refactor: update namespace in ground_segmentation files Signed-off-by: Taekjin LEE * refactor: update ground_segmentation namespace and file structure Signed-off-by: Taekjin LEE * style(pre-commit): autofix * refactor: update ground_segmentation plugin names scheme Signed-off-by: Taekjin LEE * refactor: update ransac tester Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../ground_segmentation.launch.py | 18 ++++++++++-- perception/ground_segmentation/CMakeLists.txt | 28 +++++++++---------- .../config/ground_segmentation.param.yaml | 2 +- .../launch/scan_ground_filter.launch.py | 2 +- .../node.cpp} | 28 +++++++++---------- .../ransac_ground_filter/node.hpp} | 10 +++---- .../ray_ground_filter}/gencolors.hpp | 13 ++++----- .../node.cpp} | 13 +++++---- .../ray_ground_filter/node.hpp} | 25 ++++++++--------- .../node.cpp} | 18 ++++++------ .../scan_ground_filter/node.hpp} | 13 ++++----- .../test/test_ransac_ground_filter.cpp | 4 +-- .../test/test_ray_ground_filter.cpp | 5 ++-- .../test/test_scan_ground_filter.cpp | 8 +++--- 14 files changed, 98 insertions(+), 89 deletions(-) rename perception/ground_segmentation/src/{ransac_ground_filter_nodelet.cpp => ransac_ground_filter/node.cpp} (97%) rename perception/ground_segmentation/{include/ground_segmentation/ransac_ground_filter_nodelet.hpp => src/ransac_ground_filter/node.hpp} (94%) rename perception/ground_segmentation/{include/ground_segmentation => src/ray_ground_filter}/gencolors.hpp (96%) rename perception/ground_segmentation/src/{ray_ground_filter_nodelet.cpp => ray_ground_filter/node.cpp} (97%) rename perception/ground_segmentation/{include/ground_segmentation/ray_ground_filter_nodelet.hpp => src/ray_ground_filter/node.hpp} (95%) rename perception/ground_segmentation/src/{scan_ground_filter_nodelet.cpp => scan_ground_filter/node.cpp} (98%) rename perception/ground_segmentation/{include/ground_segmentation/scan_ground_filter_nodelet.hpp => src/scan_ground_filter/node.hpp} (97%) diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py index 25fb1e6ac6c4d..684ecee757aad 100644 --- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py +++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py @@ -82,6 +82,12 @@ def create_additional_pipeline(self, lidar_name): "margin_min_z" ] ) + # Get the plugin name from the full plugin path + ground_segmentation_plugin_name = self.ground_segmentation_param[ + f"{lidar_name}_ground_filter" + ]["plugin"] + ground_segmentation_plugin_name = ground_segmentation_plugin_name.split("::")[-1] + components = [] components.append( ComposableNode( @@ -110,7 +116,7 @@ def create_additional_pipeline(self, lidar_name): components.append( ComposableNode( package="ground_segmentation", - plugin=self.ground_segmentation_param[f"{lidar_name}_ground_filter"]["plugin"], + plugin="autoware::ground_segmentation::" + ground_segmentation_plugin_name, name=f"{lidar_name}_ground_filter", remappings=[ ("input", f"{lidar_name}/range_cropped/pointcloud"), @@ -203,7 +209,7 @@ def create_ransac_pipeline(self): components.append( ComposableNode( package="ground_segmentation", - plugin="ground_segmentation::RANSACGroundFilterComponent", + plugin="autoware::ground_segmentation::" + "RANSACGroundFilterComponent", name="ransac_ground_filter", namespace="plane_fitting", remappings=[ @@ -228,6 +234,12 @@ def create_common_pipeline(self, input_topic, output_topic): self.vehicle_info["min_height_offset"] + self.ground_segmentation_param["common_crop_box_filter"]["parameters"]["margin_min_z"] ) + # Get the plugin name from the full plugin path + ground_segmentation_plugin_name = self.ground_segmentation_param["common_ground_filter"][ + "plugin" + ] + ground_segmentation_plugin_name = ground_segmentation_plugin_name.split("::")[-1] + components = [] components.append( ComposableNode( @@ -256,7 +268,7 @@ def create_common_pipeline(self, input_topic, output_topic): components.append( ComposableNode( package="ground_segmentation", - plugin=self.ground_segmentation_param["common_ground_filter"]["plugin"], + plugin="autoware::ground_segmentation::" + ground_segmentation_plugin_name, name="common_ground_filter", remappings=[ ("input", "range_cropped/pointcloud"), diff --git a/perception/ground_segmentation/CMakeLists.txt b/perception/ground_segmentation/CMakeLists.txt index 9531437e80752..f8e4f50a553a2 100644 --- a/perception/ground_segmentation/CMakeLists.txt +++ b/perception/ground_segmentation/CMakeLists.txt @@ -21,20 +21,20 @@ include_directories( ${GRID_MAP_INCLUDE_DIR} ) -ament_auto_add_library(ground_segmentation SHARED - src/ray_ground_filter_nodelet.cpp - src/ransac_ground_filter_nodelet.cpp - src/scan_ground_filter_nodelet.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/ray_ground_filter/node.cpp + src/ransac_ground_filter/node.cpp + src/scan_ground_filter/node.cpp ) -target_link_libraries(ground_segmentation +target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} ) if(OPENMP_FOUND) - set_target_properties(ground_segmentation PROPERTIES + set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS ${OpenMP_CXX_FLAGS} LINK_FLAGS ${OpenMP_CXX_FLAGS} ) @@ -42,18 +42,18 @@ endif() # ========== Ground Filter ========== # -- Ray Ground Filter -- -rclcpp_components_register_node(ground_segmentation - PLUGIN "ground_segmentation::RayGroundFilterComponent" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::ground_segmentation::RayGroundFilterComponent" EXECUTABLE ray_ground_filter_node) # -- RANSAC Ground Filter -- -rclcpp_components_register_node(ground_segmentation - PLUGIN "ground_segmentation::RANSACGroundFilterComponent" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::ground_segmentation::RANSACGroundFilterComponent" EXECUTABLE ransac_ground_filter_node) # -- Scan Ground Filter -- -rclcpp_components_register_node(ground_segmentation - PLUGIN "ground_segmentation::ScanGroundFilterComponent" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::ground_segmentation::ScanGroundFilterComponent" EXECUTABLE scan_ground_filter_node) @@ -88,7 +88,7 @@ if(BUILD_TESTING) ) target_link_libraries(test_ray_ground_filter - ground_segmentation + ${PROJECT_NAME} ${YAML_CPP_LIBRARIES} ) @@ -97,7 +97,7 @@ if(BUILD_TESTING) ) target_link_libraries(test_scan_ground_filter - ground_segmentation + ${PROJECT_NAME} ${YAML_CPP_LIBRARIES} ) ament_add_ros_isolated_gtest(test_ransac_ground_filter diff --git a/perception/ground_segmentation/config/ground_segmentation.param.yaml b/perception/ground_segmentation/config/ground_segmentation.param.yaml index 594ef1fe974b2..ca077941f0185 100644 --- a/perception/ground_segmentation/config/ground_segmentation.param.yaml +++ b/perception/ground_segmentation/config/ground_segmentation.param.yaml @@ -16,7 +16,7 @@ negative: False common_ground_filter: - plugin: "ground_segmentation::ScanGroundFilterComponent" + plugin: "autoware::ground_segmentation::ScanGroundFilterComponent" parameters: global_slope_max_angle_deg: 10.0 local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode diff --git a/perception/ground_segmentation/launch/scan_ground_filter.launch.py b/perception/ground_segmentation/launch/scan_ground_filter.launch.py index df8290997315e..990fcace3449a 100644 --- a/perception/ground_segmentation/launch/scan_ground_filter.launch.py +++ b/perception/ground_segmentation/launch/scan_ground_filter.launch.py @@ -36,7 +36,7 @@ def launch_setup(context, *args, **kwargs): nodes = [ ComposableNode( package="ground_segmentation", - plugin="ground_segmentation::ScanGroundFilterComponent", + plugin="autoware::ground_segmentation::ScanGroundFilterComponent", name="scan_ground_filter", remappings=[ ("input", LaunchConfiguration("input/pointcloud")), diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter/node.cpp similarity index 97% rename from perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp rename to perception/ground_segmentation/src/ransac_ground_filter/node.cpp index aa224e7adc5bf..25e29c5b9f21a 100644 --- a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ransac_ground_filter/node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "ground_segmentation/ransac_ground_filter_nodelet.hpp" +#include "node.hpp" #include @@ -54,15 +54,6 @@ Eigen::Vector3d getArbitraryOrthogonalVector(const Eigen::Vector3d & input) return unit_vec; } -ground_segmentation::PlaneBasis getPlaneBasis(const Eigen::Vector3d & plane_normal) -{ - ground_segmentation::PlaneBasis basis; - basis.e_z = plane_normal; - basis.e_x = getArbitraryOrthogonalVector(plane_normal); - basis.e_y = basis.e_x.cross(basis.e_z); - return basis; -} - geometry_msgs::msg::Pose getDebugPose(const Eigen::Affine3d & plane_affine) { geometry_msgs::msg::Pose debug_pose; @@ -78,8 +69,17 @@ geometry_msgs::msg::Pose getDebugPose(const Eigen::Affine3d & plane_affine) } } // namespace -namespace ground_segmentation +namespace autoware::ground_segmentation { +PlaneBasis getPlaneBasis(const Eigen::Vector3d & plane_normal) +{ + PlaneBasis basis; + basis.e_z = plane_normal; + basis.e_x = getArbitraryOrthogonalVector(plane_normal); + basis.e_y = basis.e_x.cross(basis.e_z); + return basis; +} + using pointcloud_preprocessor::get_param; RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptions & options) @@ -203,7 +203,7 @@ Eigen::Affine3d RANSACGroundFilterComponent::getPlaneAffine( pcl::PointXYZ centroid_point; centroid.get(centroid_point); Eigen::Translation trans(centroid_point.x, centroid_point.y, centroid_point.z); - const ground_segmentation::PlaneBasis basis = getPlaneBasis(plane_normal); + const PlaneBasis basis = getPlaneBasis(plane_normal); Eigen::Matrix3d rot; rot << basis.e_x.x(), basis.e_y.x(), basis.e_z.x(), basis.e_x.y(), basis.e_y.y(), basis.e_z.y(), basis.e_x.z(), basis.e_y.z(), basis.e_z.z(); @@ -396,7 +396,7 @@ rcl_interfaces::msg::SetParametersResult RANSACGroundFilterComponent::paramCallb return result; } -} // namespace ground_segmentation +} // namespace autoware::ground_segmentation #include -RCLCPP_COMPONENTS_REGISTER_NODE(ground_segmentation::RANSACGroundFilterComponent) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ground_segmentation::RANSACGroundFilterComponent) diff --git a/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp b/perception/ground_segmentation/src/ransac_ground_filter/node.hpp similarity index 94% rename from perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp rename to perception/ground_segmentation/src/ransac_ground_filter/node.hpp index f2fc47a50ff62..ebdd28f26ebe8 100644 --- a/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp +++ b/perception/ground_segmentation/src/ransac_ground_filter/node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GROUND_SEGMENTATION__RANSAC_GROUND_FILTER_NODELET_HPP_ -#define GROUND_SEGMENTATION__RANSAC_GROUND_FILTER_NODELET_HPP_ +#ifndef RANSAC_GROUND_FILTER__NODE_HPP_ +#define RANSAC_GROUND_FILTER__NODE_HPP_ #include "pointcloud_preprocessor/filter.hpp" @@ -38,7 +38,7 @@ #include #include -namespace ground_segmentation +namespace autoware::ground_segmentation { struct PlaneBasis { @@ -129,6 +129,6 @@ class RANSACGroundFilterComponent : public pointcloud_preprocessor::Filter EIGEN_MAKE_ALIGNED_OPERATOR_NEW explicit RANSACGroundFilterComponent(const rclcpp::NodeOptions & options); }; -} // namespace ground_segmentation +} // namespace autoware::ground_segmentation -#endif // GROUND_SEGMENTATION__RANSAC_GROUND_FILTER_NODELET_HPP_ +#endif // RANSAC_GROUND_FILTER__NODE_HPP_ diff --git a/perception/ground_segmentation/include/ground_segmentation/gencolors.hpp b/perception/ground_segmentation/src/ray_ground_filter/gencolors.hpp similarity index 96% rename from perception/ground_segmentation/include/ground_segmentation/gencolors.hpp rename to perception/ground_segmentation/src/ray_ground_filter/gencolors.hpp index 07637b1514b09..658e5718a01cc 100644 --- a/perception/ground_segmentation/include/ground_segmentation/gencolors.hpp +++ b/perception/ground_segmentation/src/ray_ground_filter/gencolors.hpp @@ -53,19 +53,18 @@ // //M*/ -#ifndef GROUND_SEGMENTATION__GENCOLORS_HPP_ -#define GROUND_SEGMENTATION__GENCOLORS_HPP_ +#ifndef RAY_GROUND_FILTER__GENCOLORS_HPP_ +#define RAY_GROUND_FILTER__GENCOLORS_HPP_ #include +#include #include #include #include -// #include -#include -namespace ray_ground_filter +namespace autoware::ray_ground_filter { using namespace cv; // NOLINT @@ -159,5 +158,5 @@ inline void generateColors(std::vector & colors, size_t count, size_t fa colors[i] = Scalar(c.x, c.y, c.z); } } -} // namespace ray_ground_filter -#endif // GROUND_SEGMENTATION__GENCOLORS_HPP_ +} // namespace autoware::ray_ground_filter +#endif // RAY_GROUND_FILTER__GENCOLORS_HPP_ diff --git a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ray_ground_filter/node.cpp similarity index 97% rename from perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp rename to perception/ground_segmentation/src/ray_ground_filter/node.cpp index c58f1c0e507e5..c75972d3c4f14 100644 --- a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ray_ground_filter/node.cpp @@ -29,12 +29,12 @@ * v1.0: amc-nu (abrahammonrroy@yahoo.com) */ -#include "ground_segmentation/ray_ground_filter_nodelet.hpp" +#include "node.hpp" #include #include -namespace ground_segmentation +namespace autoware::ground_segmentation { using pointcloud_preprocessor::get_param; @@ -250,8 +250,9 @@ void RayGroundFilterComponent::ClassifyPointCloud( // // Enable the dynamic reconfigure service // has_service = true; // srv_ = boost::make_shared< -// dynamic_reconfigure::Server >(nh); -// dynamic_reconfigure::Server::CallbackType f = +// dynamic_reconfigure::Server >(nh); +// dynamic_reconfigure::Server::CallbackType +// f = // boost::bind(&RayGroundFilterComponent::config_callback, this, _1, _2); // srv_->setCallback(f); // return (true); @@ -394,7 +395,7 @@ rcl_interfaces::msg::SetParametersResult RayGroundFilterComponent::paramCallback return result; } -} // namespace ground_segmentation +} // namespace autoware::ground_segmentation #include -RCLCPP_COMPONENTS_REGISTER_NODE(ground_segmentation::RayGroundFilterComponent) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ground_segmentation::RayGroundFilterComponent) diff --git a/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp b/perception/ground_segmentation/src/ray_ground_filter/node.hpp similarity index 95% rename from perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp rename to perception/ground_segmentation/src/ray_ground_filter/node.hpp index 6e2638e8566d8..8bb17cdaf8a09 100644 --- a/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp +++ b/perception/ground_segmentation/src/ray_ground_filter/node.hpp @@ -42,8 +42,8 @@ * v1.0: amc-nu (abrahammonrroy@yahoo.com) */ -#ifndef GROUND_SEGMENTATION__RAY_GROUND_FILTER_NODELET_HPP_ -#define GROUND_SEGMENTATION__RAY_GROUND_FILTER_NODELET_HPP_ +#ifndef RAY_GROUND_FILTER__NODE_HPP_ +#define RAY_GROUND_FILTER__NODE_HPP_ #include @@ -58,14 +58,7 @@ #include #endif -#include - -#include -#include -#include -// #include - -#include "ground_segmentation/gencolors.hpp" +#include "gencolors.hpp" #include "pointcloud_preprocessor/filter.hpp" #include @@ -76,11 +69,17 @@ #include #include +#include + +#include +#include +#include + namespace bg = boost::geometry; using Point = bg::model::d2::point_xy; using Polygon = bg::model::polygon; -namespace ground_segmentation +namespace autoware::ground_segmentation { class RayGroundFilterComponent : public pointcloud_preprocessor::Filter { @@ -206,6 +205,6 @@ class RayGroundFilterComponent : public pointcloud_preprocessor::Filter EIGEN_MAKE_ALIGNED_OPERATOR_NEW explicit RayGroundFilterComponent(const rclcpp::NodeOptions & options); }; -} // namespace ground_segmentation +} // namespace autoware::ground_segmentation -#endif // GROUND_SEGMENTATION__RAY_GROUND_FILTER_NODELET_HPP_ +#endif // RAY_GROUND_FILTER__NODE_HPP_ diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter/node.cpp similarity index 98% rename from perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp rename to perception/ground_segmentation/src/scan_ground_filter/node.cpp index 7853aa400b6a5..26db036f79bbe 100644 --- a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/scan_ground_filter/node.cpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "ground_segmentation/scan_ground_filter_nodelet.hpp" +#include "node.hpp" -#include -#include -#include -#include +#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/math/normalization.hpp" +#include "autoware/universe_utils/math/unit_conversion.hpp" +#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include #include #include -namespace ground_segmentation +namespace autoware::ground_segmentation { using autoware::universe_utils::calcDistance3d; using autoware::universe_utils::deg2rad; @@ -33,7 +33,7 @@ using autoware::vehicle_info_utils::VehicleInfoUtils; using pointcloud_preprocessor::get_param; ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & options) -: Filter("ScanGroundFilter", options) +: pointcloud_preprocessor::Filter("ScanGroundFilter", options) { // set initial parameters { @@ -715,7 +715,7 @@ rcl_interfaces::msg::SetParametersResult ScanGroundFilterComponent::onParameter( return result; } -} // namespace ground_segmentation +} // namespace autoware::ground_segmentation #include -RCLCPP_COMPONENTS_REGISTER_NODE(ground_segmentation::ScanGroundFilterComponent) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ground_segmentation::ScanGroundFilterComponent) diff --git a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp b/perception/ground_segmentation/src/scan_ground_filter/node.hpp similarity index 97% rename from perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp rename to perception/ground_segmentation/src/scan_ground_filter/node.hpp index 3ae41173a7a7d..0e6ed598053ba 100644 --- a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp +++ b/perception/ground_segmentation/src/scan_ground_filter/node.hpp @@ -12,14 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GROUND_SEGMENTATION__SCAN_GROUND_FILTER_NODELET_HPP_ -#define GROUND_SEGMENTATION__SCAN_GROUND_FILTER_NODELET_HPP_ +#ifndef SCAN_GROUND_FILTER__NODE_HPP_ +#define SCAN_GROUND_FILTER__NODE_HPP_ +#include "autoware_vehicle_info_utils/vehicle_info.hpp" #include "pointcloud_preprocessor/filter.hpp" #include "pointcloud_preprocessor/transform_info.hpp" -#include - #include #include @@ -41,7 +40,7 @@ class ScanGroundFilterTest; -namespace ground_segmentation +namespace autoware::ground_segmentation { using autoware::vehicle_info_utils::VehicleInfo; @@ -291,6 +290,6 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter // for test friend ScanGroundFilterTest; }; -} // namespace ground_segmentation +} // namespace autoware::ground_segmentation -#endif // GROUND_SEGMENTATION__SCAN_GROUND_FILTER_NODELET_HPP_ +#endif // SCAN_GROUND_FILTER__NODE_HPP_ diff --git a/perception/ground_segmentation/test/test_ransac_ground_filter.cpp b/perception/ground_segmentation/test/test_ransac_ground_filter.cpp index 79e28b6b1ccd8..fb66ba9e05b6d 100644 --- a/perception/ground_segmentation/test/test_ransac_ground_filter.cpp +++ b/perception/ground_segmentation/test/test_ransac_ground_filter.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "../src/ransac_ground_filter/node.hpp" #include "ament_index_cpp/get_package_share_directory.hpp" #include "tf2_ros/transform_broadcaster.h" #include -#include #include "geometry_msgs/msg/transform_stamped.hpp" #include @@ -68,7 +68,7 @@ class RansacGroundFilterTestSuite : public ::testing::Test void TearDown() { (void)rclcpp::shutdown(); } }; -class RansacGroundFilterTest : public ground_segmentation::RANSACGroundFilterComponent +class RansacGroundFilterTest : public autoware::ground_segmentation::RANSACGroundFilterComponent { public: explicit RansacGroundFilterTest(const rclcpp::NodeOptions & options) diff --git a/perception/ground_segmentation/test/test_ray_ground_filter.cpp b/perception/ground_segmentation/test/test_ray_ground_filter.cpp index 68dddf0c68bc7..4233b8bb18ebe 100644 --- a/perception/ground_segmentation/test/test_ray_ground_filter.cpp +++ b/perception/ground_segmentation/test/test_ray_ground_filter.cpp @@ -12,11 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "../src/ray_ground_filter/node.hpp" #include "ament_index_cpp/get_package_share_directory.hpp" #include "tf2_ros/transform_broadcaster.h" -#include - #include "geometry_msgs/msg/transform_stamped.hpp" #include @@ -37,7 +36,7 @@ class RayGroundFilterComponentTestSuite : public ::testing::Test void TearDown() { (void)rclcpp::shutdown(); } }; // sanity_check -class RayGroundFilterComponentTest : public ground_segmentation::RayGroundFilterComponent +class RayGroundFilterComponentTest : public autoware::ground_segmentation::RayGroundFilterComponent { public: explicit RayGroundFilterComponentTest(const rclcpp::NodeOptions & options) diff --git a/perception/ground_segmentation/test/test_scan_ground_filter.cpp b/perception/ground_segmentation/test/test_scan_ground_filter.cpp index af97f7e0112fd..f5faecd59d6d3 100644 --- a/perception/ground_segmentation/test/test_scan_ground_filter.cpp +++ b/perception/ground_segmentation/test/test_scan_ground_filter.cpp @@ -12,11 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "../src/scan_ground_filter/node.hpp" #include "ament_index_cpp/get_package_share_directory.hpp" #include "tf2_ros/transform_broadcaster.h" -#include - #include #include @@ -126,7 +125,8 @@ class ScanGroundFilterTest : public ::testing::Test options.parameter_overrides(parameters); - scan_ground_filter_ = std::make_shared(options); + scan_ground_filter_ = + std::make_shared(options); // read pcd to pointcloud sensor_msgs::msg::PointCloud2::SharedPtr origin_input_msg_ptr = @@ -161,7 +161,7 @@ class ScanGroundFilterTest : public ::testing::Test ~ScanGroundFilterTest() override { rclcpp::shutdown(); } public: - std::shared_ptr scan_ground_filter_; + std::shared_ptr scan_ground_filter_; rclcpp::Node::SharedPtr dummy_node_; rclcpp::Publisher::SharedPtr input_pointcloud_pub_; rclcpp::Publisher::SharedPtr output_pointcloud_pub_; From 7a880803dfe9200032c08380748c8e52ef65b38a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 3 Jul 2024 12:23:12 +0300 Subject: [PATCH 033/306] ci(codecov.yaml): make it pass regardless of coverage (#7803) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- codecov.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/codecov.yaml b/codecov.yaml index a4f3298cd4ab6..ecc77815e97e6 100644 --- a/codecov.yaml +++ b/codecov.yaml @@ -20,7 +20,9 @@ flag_management: statuses: - name_prefix: project- type: project - target: auto + target: 0% # Make CI always succeed + threshold: 100% # Make CI always succeed - name_prefix: patch- type: patch - target: auto + target: 0% # Make CI always succeed + threshold: 100% # Make CI always succeed From 287f22c883292ca935842cc12296992b7af62de0 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 3 Jul 2024 18:31:46 +0900 Subject: [PATCH 034/306] refactor(raindrop_cluster_filter)!: fix namespace and directory structure (#7785) refactor: namespace fix, move header to src Signed-off-by: Taekjin LEE --- .../raindrop_cluster_filter/CMakeLists.txt | 4 ++-- ... => low_intensity_cluster_filter_node.cpp} | 12 +++++++----- .../low_intensity_cluster_filter_node.hpp} | 19 +++++++++---------- 3 files changed, 18 insertions(+), 17 deletions(-) rename perception/raindrop_cluster_filter/src/{low_intensity_cluster_filter.cpp => low_intensity_cluster_filter_node.cpp} (95%) rename perception/raindrop_cluster_filter/{include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp => src/low_intensity_cluster_filter_node.hpp} (78%) diff --git a/perception/raindrop_cluster_filter/CMakeLists.txt b/perception/raindrop_cluster_filter/CMakeLists.txt index a867bc740317b..17eef97cc2f52 100644 --- a/perception/raindrop_cluster_filter/CMakeLists.txt +++ b/perception/raindrop_cluster_filter/CMakeLists.txt @@ -10,11 +10,11 @@ autoware_package() # Targets ament_auto_add_library(low_intensity_cluster_filter SHARED - src/low_intensity_cluster_filter.cpp + src/low_intensity_cluster_filter_node.cpp ) rclcpp_components_register_node(low_intensity_cluster_filter - PLUGIN "low_intensity_cluster_filter::LowIntensityClusterFilter" + PLUGIN "autoware::low_intensity_cluster_filter::LowIntensityClusterFilter" EXECUTABLE low_intensity_cluster_filter_node) diff --git a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp similarity index 95% rename from perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp rename to perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp index 4772c355ec0b6..105fc98722a26 100644 --- a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp +++ b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp @@ -12,15 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp" +#include "low_intensity_cluster_filter_node.hpp" + +#include "autoware/universe_utils/geometry/geometry.hpp" -#include #include #include #include -namespace low_intensity_cluster_filter + +namespace autoware::low_intensity_cluster_filter { LowIntensityClusterFilter::LowIntensityClusterFilter(const rclcpp::NodeOptions & node_options) : Node("low_intensity_cluster_filter_node", node_options), @@ -135,7 +137,7 @@ bool LowIntensityClusterFilter::isValidatedCluster(const sensor_msgs::msg::Point return false; } -} // namespace low_intensity_cluster_filter +} // namespace autoware::low_intensity_cluster_filter #include -RCLCPP_COMPONENTS_REGISTER_NODE(low_intensity_cluster_filter::LowIntensityClusterFilter) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::low_intensity_cluster_filter::LowIntensityClusterFilter) diff --git a/perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp similarity index 78% rename from perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp rename to perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp index b3ebc4d916947..8e21306218ab2 100644 --- a/perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp +++ b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp @@ -12,26 +12,25 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RAINDROP_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER_HPP_ -#define RAINDROP_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER_HPP_ +#ifndef LOW_INTENSITY_CLUSTER_FILTER_NODE_HPP_ +#define LOW_INTENSITY_CLUSTER_FILTER_NODE_HPP_ +#include "autoware/universe_utils/ros/debug_publisher.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" #include "detected_object_validation/utils/utils.hpp" -#include -#include +#include #include -#include +#include "tier4_perception_msgs/msg/detected_objects_with_feature.hpp" #include #include -// #include -#include #include #include -namespace low_intensity_cluster_filter +namespace autoware::low_intensity_cluster_filter { class LowIntensityClusterFilter : public rclcpp::Node @@ -73,6 +72,6 @@ class LowIntensityClusterFilter : public rclcpp::Node std::unique_ptr debug_publisher_ptr_{nullptr}; }; -} // namespace low_intensity_cluster_filter +} // namespace autoware::low_intensity_cluster_filter -#endif // RAINDROP_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER_HPP_ +#endif // LOW_INTENSITY_CLUSTER_FILTER_NODE_HPP_ From f96ad28011f21deab4de1829a4a54c92db23da5c Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 3 Jul 2024 13:13:18 +0200 Subject: [PATCH 035/306] refactor(stop_filter): prefix package and namespace with autoware (#7789) * refactor(stop_filter): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez * fix launch files and update CODEOWNERS Signed-off-by: Esteve Fernandez --------- Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 2 +- .../pose_twist_fusion_filter.launch.xml | 2 +- .../{stop_filter => autoware_stop_filter}/CMakeLists.txt | 3 ++- .../{stop_filter => autoware_stop_filter}/README.md | 0 .../config/stop_filter.param.yaml | 0 .../launch/stop_filter.launch.xml | 4 ++-- .../{stop_filter => autoware_stop_filter}/package.xml | 2 +- .../schema/stop_filter.schema.json | 0 .../src/stop_filter.cpp | 7 +++++-- .../src}/stop_filter.hpp | 9 ++++++--- 10 files changed, 18 insertions(+), 11 deletions(-) rename localization/{stop_filter => autoware_stop_filter}/CMakeLists.txt (87%) rename localization/{stop_filter => autoware_stop_filter}/README.md (100%) rename localization/{stop_filter => autoware_stop_filter}/config/stop_filter.param.yaml (100%) rename localization/{stop_filter => autoware_stop_filter}/launch/stop_filter.launch.xml (69%) rename localization/{stop_filter => autoware_stop_filter}/package.xml (97%) rename localization/{stop_filter => autoware_stop_filter}/schema/stop_filter.schema.json (100%) rename localization/{stop_filter => autoware_stop_filter}/src/stop_filter.cpp (92%) rename localization/{stop_filter/include/stop_filter => autoware_stop_filter/src}/stop_filter.hpp (91%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index b932cc62b77ca..1f25372c14d71 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -81,6 +81,7 @@ launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** 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 localization/autoware_landmark_based_localizer/autoware_landmark_manager/** 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 localization/autoware_pose_covariance_modifier/** melike@leodrive.ai +localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp localization/geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/gyro_odometer/** 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 @@ -91,7 +92,6 @@ localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masah localization/pose_estimator_arbiter/** 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 localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@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 localization/pose_instability_detector/** 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 -localization/stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_common/** 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 localization/yabloc/yabloc_image_processing/** 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 diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index bdea584bd58ae..b39346de8f8da 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -17,7 +17,7 @@ - + diff --git a/localization/stop_filter/CMakeLists.txt b/localization/autoware_stop_filter/CMakeLists.txt similarity index 87% rename from localization/stop_filter/CMakeLists.txt rename to localization/autoware_stop_filter/CMakeLists.txt index 4776a1f4967b2..f33ab41169cb3 100644 --- a/localization/stop_filter/CMakeLists.txt +++ b/localization/autoware_stop_filter/CMakeLists.txt @@ -1,11 +1,12 @@ cmake_minimum_required(VERSION 3.14) -project(stop_filter) +project(autoware_stop_filter) find_package(autoware_cmake REQUIRED) autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/stop_filter.cpp + src/stop_filter.hpp ) rclcpp_components_register_node(${PROJECT_NAME} diff --git a/localization/stop_filter/README.md b/localization/autoware_stop_filter/README.md similarity index 100% rename from localization/stop_filter/README.md rename to localization/autoware_stop_filter/README.md diff --git a/localization/stop_filter/config/stop_filter.param.yaml b/localization/autoware_stop_filter/config/stop_filter.param.yaml similarity index 100% rename from localization/stop_filter/config/stop_filter.param.yaml rename to localization/autoware_stop_filter/config/stop_filter.param.yaml diff --git a/localization/stop_filter/launch/stop_filter.launch.xml b/localization/autoware_stop_filter/launch/stop_filter.launch.xml similarity index 69% rename from localization/stop_filter/launch/stop_filter.launch.xml rename to localization/autoware_stop_filter/launch/stop_filter.launch.xml index c53b37efc9954..ff7b6cafe6e8f 100644 --- a/localization/stop_filter/launch/stop_filter.launch.xml +++ b/localization/autoware_stop_filter/launch/stop_filter.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/localization/stop_filter/package.xml b/localization/autoware_stop_filter/package.xml similarity index 97% rename from localization/stop_filter/package.xml rename to localization/autoware_stop_filter/package.xml index 2e6d5c4f8bbe1..dfdbd5f182983 100644 --- a/localization/stop_filter/package.xml +++ b/localization/autoware_stop_filter/package.xml @@ -1,7 +1,7 @@ - stop_filter + autoware_stop_filter 0.0.0 The stop filter package Koji Minoda diff --git a/localization/stop_filter/schema/stop_filter.schema.json b/localization/autoware_stop_filter/schema/stop_filter.schema.json similarity index 100% rename from localization/stop_filter/schema/stop_filter.schema.json rename to localization/autoware_stop_filter/schema/stop_filter.schema.json diff --git a/localization/stop_filter/src/stop_filter.cpp b/localization/autoware_stop_filter/src/stop_filter.cpp similarity index 92% rename from localization/stop_filter/src/stop_filter.cpp rename to localization/autoware_stop_filter/src/stop_filter.cpp index c1c4de2fb6b6e..f5e29419105d4 100644 --- a/localization/stop_filter/src/stop_filter.cpp +++ b/localization/autoware_stop_filter/src/stop_filter.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "stop_filter/stop_filter.hpp" +#include "stop_filter.hpp" #include @@ -24,6 +24,8 @@ using std::placeholders::_1; +namespace autoware::stop_filter +{ StopFilter::StopFilter(const rclcpp::NodeOptions & node_options) : rclcpp::Node("stop_filter", node_options) { @@ -57,6 +59,7 @@ void StopFilter::callback_odometry(const nav_msgs::msg::Odometry::SharedPtr msg) pub_stop_flag_->publish(stop_flag_msg); pub_odom_->publish(odom_msg); } +} // namespace autoware::stop_filter #include -RCLCPP_COMPONENTS_REGISTER_NODE(StopFilter) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::stop_filter::StopFilter) diff --git a/localization/stop_filter/include/stop_filter/stop_filter.hpp b/localization/autoware_stop_filter/src/stop_filter.hpp similarity index 91% rename from localization/stop_filter/include/stop_filter/stop_filter.hpp rename to localization/autoware_stop_filter/src/stop_filter.hpp index e8428788820b2..ce6e67f0b7265 100644 --- a/localization/stop_filter/include/stop_filter/stop_filter.hpp +++ b/localization/autoware_stop_filter/src/stop_filter.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STOP_FILTER__STOP_FILTER_HPP_ -#define STOP_FILTER__STOP_FILTER_HPP_ +#ifndef STOP_FILTER_HPP_ +#define STOP_FILTER_HPP_ #include @@ -34,6 +34,8 @@ #include #include +namespace autoware::stop_filter +{ class StopFilter : public rclcpp::Node { public: @@ -54,4 +56,5 @@ class StopFilter : public rclcpp::Node */ void callback_odometry(const nav_msgs::msg::Odometry::SharedPtr msg); }; -#endif // STOP_FILTER__STOP_FILTER_HPP_ +} // namespace autoware::stop_filter +#endif // STOP_FILTER_HPP_ From e193434b42845efa7eb9fda281bb3e1c0dbb75ff Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 00:09:17 +0900 Subject: [PATCH 036/306] fix(autoware_map_based_prediction): fix syntaxError (#7813) * fix(autoware_map_based_prediction): fix syntaxError Signed-off-by: Ryuta Kambe * style(pre-commit): autofix * fix spellcheck Signed-off-by: Ryuta Kambe * fix new cppcheck warnings Signed-off-by: Ryuta Kambe * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/map_based_prediction_node.cpp | 13 +++++----- .../src/path_generator.cpp | 24 ++++++++++--------- 2 files changed, 20 insertions(+), 17 deletions(-) diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index c8c4e3bed2d01..2b8358eb52e4e 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -1771,11 +1771,12 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( object.kinematics.acceleration_with_covariance.accel.linear.y) : 0.0; const double t_h = time_horizon; - const double λ = std::log(2) / acceleration_exponential_half_life_; + const double lambda = std::log(2) / acceleration_exponential_half_life_; auto get_search_distance_with_decaying_acc = [&]() -> double { const double acceleration_distance = - obj_acc * (1.0 / λ) * t_h + obj_acc * (1.0 / std::pow(λ, 2)) * (std::exp(-λ * t_h) - 1); + obj_acc * (1.0 / lambda) * t_h + + obj_acc * (1.0 / std::pow(lambda, 2)) * std::expm1(-lambda * t_h); double search_dist = acceleration_distance + obj_vel * t_h; return search_dist; }; @@ -1787,13 +1788,13 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( return obj_vel * t_h; } // Time to reach final speed - const double t_f = (-1.0 / λ) * std::log(1 - ((final_speed - obj_vel) * λ) / obj_acc); + const double t_f = (-1.0 / lambda) * std::log(1 - ((final_speed - obj_vel) * lambda) / obj_acc); // It is assumed the vehicle accelerates until final_speed is reached and // then continues at constant speed for the rest of the time horizon const double search_dist = // Distance covered while accelerating - obj_acc * (1.0 / λ) * t_f + obj_acc * (1.0 / std::pow(λ, 2)) * (std::exp(-λ * t_f) - 1) + - obj_vel * t_f + + obj_acc * (1.0 / lambda) * t_f + + obj_acc * (1.0 / std::pow(lambda, 2)) * std::expm1(-lambda * t_f) + obj_vel * t_f + // Distance covered at constant speed final_speed * (t_h - t_f); return search_dist; @@ -1807,7 +1808,7 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( const double legal_speed_limit = static_cast(limit.speedLimit.value()); double final_speed_after_acceleration = - obj_vel + obj_acc * (1.0 / λ) * (1.0 - std::exp(-λ * t_h)); + obj_vel + obj_acc * (1.0 / lambda) * (1.0 - std::exp(-lambda * t_h)); const double final_speed_limit = legal_speed_limit * speed_limit_multiplier_; const bool final_speed_surpasses_limit = final_speed_after_acceleration > final_speed_limit; diff --git a/perception/autoware_map_based_prediction/src/path_generator.cpp b/perception/autoware_map_based_prediction/src/path_generator.cpp index aeb1b0fedd33f..dac034a6b7a7d 100644 --- a/perception/autoware_map_based_prediction/src/path_generator.cpp +++ b/perception/autoware_map_based_prediction/src/path_generator.cpp @@ -421,7 +421,7 @@ FrenetPoint PathGenerator::getFrenetPoint( // Using a decaying acceleration model. Consult the README for more information about the model. const double t_h = duration; - const float λ = std::log(2) / acceleration_exponential_half_life_; + const float lambda = std::log(2) / acceleration_exponential_half_life_; auto have_same_sign = [](double a, double b) -> bool { return (a >= 0.0 && b >= 0.0) || (a < 0.0 && b < 0.0); @@ -434,7 +434,7 @@ FrenetPoint PathGenerator::getFrenetPoint( return v; } // Get velocity after time horizon - const auto terminal_velocity = v + a * (1.0 / λ) * (1 - std::exp(-λ * t_h)); + const auto terminal_velocity = v + a * (1.0 / lambda) * (1 - std::exp(-lambda * t_h)); // If vehicle is decelerating, make sure its speed does not change signs (we assume it will, at // most stop, not reverse its direction) @@ -443,15 +443,16 @@ FrenetPoint PathGenerator::getFrenetPoint( // if the velocities don't have the same sign, calculate when the vehicle reaches 0 speed -> // time t_stop - // 0 = Vo + acc(1/λ)(1-e^(-λt_stop)) - // e^(-λt_stop) = 1 - (-Vo* λ)/acc - // t_stop = (-1/λ)*ln(1 - (-Vo* λ)/acc) - // t_stop = (-1/λ)*ln(1 + (Vo* λ)/acc) - auto t_stop = (-1.0 / λ) * std::log(1 + (v * λ / a)); + // 0 = Vo + acc(1/lambda)(1-e^(-lambda t_stop)) + // e^(-lambda t_stop) = 1 - (-Vo* lambda)/acc + // t_stop = (-1/lambda)*ln(1 - (-Vo* lambda)/acc) + // t_stop = (-1/lambda)*ln(1 + (Vo* lambda)/acc) + auto t_stop = (-1.0 / lambda) * std::log1p(v * lambda / a); // Calculate the distance traveled until stopping auto distance_to_reach_zero_speed = - v * t_stop + a * t_stop * (1.0 / λ) + a * (1.0 / std::pow(λ, 2)) * (std::exp(-λ * t_h) - 1); + v * t_stop + a * t_stop * (1.0 / lambda) + + a * (1.0 / std::pow(lambda, 2)) * std::expm1(-lambda * t_h); // Output an equivalent constant speed return distance_to_reach_zero_speed / t_h; } @@ -461,17 +462,18 @@ FrenetPoint PathGenerator::getFrenetPoint( // assume it will continue accelerating (reckless driving) const bool object_has_surpassed_limit_already = v > speed_limit; if (terminal_velocity < speed_limit || object_has_surpassed_limit_already) - return v + a * (1.0 / λ) + (a / (t_h * std::pow(λ, 2))) * (std::exp(-λ * t_h) - 1); + return v + a * (1.0 / lambda) + (a / (t_h * std::pow(lambda, 2))) * std::expm1(-lambda * t_h); // It is assumed the vehicle accelerates until final_speed is reached and // then continues at constant speed for the rest of the time horizon // So, we calculate the time it takes to reach the speed limit and compute how far the vehicle // would go if it accelerated until reaching the speed limit, and then continued at a constant // speed. - const double t_f = (-1.0 / λ) * std::log(1 - ((speed_limit - v) * λ) / a); + const double t_f = (-1.0 / lambda) * std::log(1 - ((speed_limit - v) * lambda) / a); const double distance_covered = // Distance covered while accelerating - a * (1.0 / λ) * t_f + a * (1.0 / std::pow(λ, 2)) * (std::exp(-λ * t_f) - 1) + v * t_f + + a * (1.0 / lambda) * t_f + a * (1.0 / std::pow(lambda, 2)) * std::expm1(-lambda * t_f) + + v * t_f + // Distance covered at constant speed for the rest of the horizon time speed_limit * (t_h - t_f); return distance_covered / t_h; From 9b27f355e0b17da860444ec79b0a8f0c42eb2862 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Thu, 4 Jul 2024 00:34:15 +0900 Subject: [PATCH 037/306] feat(pointcloud_preprocessor): add unit test for distortion corrector node (#7801) feat: add unit test for distoriton corrector node Signed-off-by: vividf --- .../pointcloud_preprocessor/CMakeLists.txt | 14 +- .../test/test_distortion_corrector.py | 241 ------- .../test/test_distortion_corrector_node.cpp | 600 ++++++++++++++++++ ...test_distortion_corrector_use_imu_false.py | 240 ------- 4 files changed, 606 insertions(+), 489 deletions(-) delete mode 100644 sensing/pointcloud_preprocessor/test/test_distortion_corrector.py create mode 100644 sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp delete mode 100644 sensing/pointcloud_preprocessor/test/test_distortion_corrector_use_imu_false.py diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt index dd73f28a41f3c..2d0649fe43954 100644 --- a/sensing/pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/pointcloud_preprocessor/CMakeLists.txt @@ -231,14 +231,12 @@ if(BUILD_TESTING) ament_add_gtest(test_utilities test/test_utilities.cpp ) + ament_add_gtest(distortion_corrector_node_tests + test/test_distortion_corrector_node.cpp + ) + target_link_libraries(test_utilities pointcloud_preprocessor_filter) + target_link_libraries(distortion_corrector_node_tests pointcloud_preprocessor_filter) + - add_ros_test( - test/test_distortion_corrector.py - TIMEOUT "30" - ) - add_ros_test( - test/test_distortion_corrector_use_imu_false.py - TIMEOUT "30" - ) endif() diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector.py b/sensing/pointcloud_preprocessor/test/test_distortion_corrector.py deleted file mode 100644 index cc80da29e3c13..0000000000000 --- a/sensing/pointcloud_preprocessor/test/test_distortion_corrector.py +++ /dev/null @@ -1,241 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright 2023 TIER IV, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -import unittest - -from geometry_msgs.msg import TwistWithCovarianceStamped -import launch -from launch.logging import get_logger -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -import launch_testing -import numpy as np -import pytest -import rclpy -from rclpy.qos import QoSDurabilityPolicy -from rclpy.qos import QoSHistoryPolicy -from rclpy.qos import QoSProfile -from rclpy.qos import QoSReliabilityPolicy -from sensor_msgs.msg import Imu -from sensor_msgs.msg import PointCloud2 -from sensor_msgs.msg import PointField -from std_msgs.msg import Header - -logger = get_logger(__name__) - - -@pytest.mark.launch_test -def generate_test_description(): - nodes = [] - - nodes.append( - ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::DistortionCorrectorComponent", - name="distortion_corrector_node", - parameters=[ - {"base_frame": "base_link", "use_imu": True, "use_3d_distortion_correction": False}, - ], - remappings=[ - ("~/input/twist", "/test/sensing/vehicle_velocity_converter/twist_with_covariance"), - ("~/input/imu", "/test/sensing/imu/imu_data"), - ("~/input/pointcloud", "/test/sensing/lidar/top/mirror_cropped/pointcloud_ex"), - ("~/output/pointcloud", "/test/sensing/lidar/top/rectified/pointcloud_ex"), - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - ) - - container = ComposableNodeContainer( - name="test_distortion_corrector_container", - namespace="pointcloud_preprocessor", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=nodes, - output="screen", - ) - - return launch.LaunchDescription( - [ - container, - # Start tests right away - no need to wait for anything - launch_testing.actions.ReadyToTest(), - ] - ) - - -class TestDistortionCorrector(unittest.TestCase): - @classmethod - def setUpClass(cls): - # Initialize the ROS context for the test node - rclpy.init() - - @classmethod - def tearDownClass(cls): - # Shutdown the ROS context - rclpy.shutdown() - - def setUp(self): - # Create a ROS node for tests - self.test_node = rclpy.create_node("test_node") - self.evaluation_time = 2 # 200ms - - def tearDown(self): - self.test_node.destroy_node() - - @staticmethod - def print_message(stat): - logger.debug("===========================") - logger.debug(stat) - - @staticmethod - def pointcloud2_to_xyz_array(cloud_msg): - cloud_arr = np.frombuffer(cloud_msg.data, dtype=np.float32) - cloud_arr = np.reshape(cloud_arr, (cloud_msg.width, int(cloud_msg.point_step / 4))) - return cloud_arr[:, :3] - - @staticmethod - def generate_pointcloud(num_points, header, timestamp_offset_per_point=0.01): - points_xyz = np.random.rand(num_points, 3).astype(np.float32) - timestamps = np.array( - [ - header.stamp.sec + header.stamp.nanosec * 1e-9 + timestamp_offset_per_point * i - for i in range(num_points) - ] - ).astype(np.float64) - xyz_data = points_xyz.tobytes() - timestamp_data = timestamps.tobytes() - pointcloud_data = b"".join( - xyz_data[i * 12 : i * 12 + 12] + timestamp_data[i * 8 : i * 8 + 8] - for i in range(len(xyz_data)) - ) - fields = [ - PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1), - PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1), - PointField(name="z", offset=8, datatype=PointField.FLOAT32, count=1), - PointField(name="time_stamp", offset=12, datatype=PointField.FLOAT64, count=1), - ] - pointcloud_msg = PointCloud2( - header=header, - height=1, - width=10, - is_dense=True, - is_bigendian=False, - point_step=20, # 4 float32 fields * 4 bytes/field - row_step=20 * num_points, # point_step * width - fields=fields, - data=pointcloud_data, - ) - return pointcloud_msg - - def test_node_link(self): - # QoS profile for sensor data - sensor_qos = QoSProfile( - history=QoSHistoryPolicy.KEEP_LAST, - depth=10, - reliability=QoSReliabilityPolicy.BEST_EFFORT, - durability=QoSDurabilityPolicy.VOLATILE, - ) - - # Publishers - imu_pub = self.test_node.create_publisher(Imu, "/test/sensing/imu/imu_data", 10) - velocity_pub = self.test_node.create_publisher( - TwistWithCovarianceStamped, - "/test/sensing/vehicle_velocity_converter/twist_with_covariance", - 10, - ) - pointcloud_pub = self.test_node.create_publisher( - PointCloud2, - "/test/sensing/lidar/top/mirror_cropped/pointcloud_ex", - qos_profile=sensor_qos, - ) - - # Subscribers - received_data = {"msg": None} - - def pointcloud_callback(msg): - received_data["msg"] = msg - - self.test_node.create_subscription( - PointCloud2, - "/test/sensing/lidar/top/rectified/pointcloud_ex", - pointcloud_callback, - qos_profile=sensor_qos, - ) - - # Wait for composable node launches - rclpy.spin_once(self.test_node, timeout_sec=1.0) - - # Prepare header - header = Header() - header.stamp = self.test_node.get_clock().now().to_msg() - header.frame_id = "base_link" - - # Publish IMU and velocity data - for i in range(50): - header_tmp = Header() - header_tmp.stamp = self.test_node.get_clock().now().to_msg() - header_tmp.frame_id = "base_link" - - imu_msg = Imu() - imu_msg.header = header_tmp - velocity_msg = TwistWithCovarianceStamped() - velocity_msg.header = header_tmp - velocity_msg.twist.twist.linear.x = 1.0 - - imu_pub.publish(imu_msg) - velocity_pub.publish(velocity_msg) - rclpy.spin_once(self.test_node, timeout_sec=0.01) - - # Publish pointcloud data - num_points = 10 - pointcloud_msg = self.generate_pointcloud(num_points, header) - pointcloud_pub.publish(pointcloud_msg) - - # Wait for output with a timeout - start_time = self.test_node.get_clock().now() - while self.test_node.get_clock().now() - start_time < rclpy.duration.Duration( - seconds=self.evaluation_time - ): - rclpy.spin_once(self.test_node, timeout_sec=0.1) - if received_data["msg"] is not None: - break - - # Check if the output was received - self.assertIsNotNone(received_data["msg"], "Did not receive output pointcloud data") - - # Check that the received pointcloud data has same length as num_points - received_pointcloud = received_data["msg"] - self.assertEqual( - received_pointcloud.width, - num_points, - "The received pointcloud data has a different length than expected", - ) - - # Check that the received pointcloud data is different from the original one - original_pointcloud_arr = self.pointcloud2_to_xyz_array(pointcloud_msg) - received_pointcloud_arr = self.pointcloud2_to_xyz_array(received_pointcloud) - self.assertFalse( - np.allclose(original_pointcloud_arr, received_pointcloud_arr, atol=1e-6), - "The received pointcloud data is not different from the original one", - ) - - -@launch_testing.post_shutdown_test() -class TestProcessOutput(unittest.TestCase): - def test_exit_code(self, proc_info): - # Check that process exits with code 0: no error - launch_testing.asserts.assertExitCodes(proc_info) diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp new file mode 100644 index 0000000000000..9e5d068be52f5 --- /dev/null +++ b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -0,0 +1,600 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" + +#include + +#include +#include +#include +#include + +#include +#include + +class DistortionCorrectorTest : public ::testing::Test +{ +protected: + void SetUp() override + { + node_ = std::make_shared("test_node"); + distortion_corrector_2d_ = + std::make_shared(node_.get()); + distortion_corrector_3d_ = + std::make_shared(node_.get()); + + // Setup TF + tf_broadcaster_ = std::make_shared(node_); + tf_broadcaster_->sendTransform(generateStaticTransformMsg()); + + // Spin the node for a while to ensure transforms are published + auto start = std::chrono::steady_clock::now(); + auto timeout = std::chrono::seconds(1); + while (std::chrono::steady_clock::now() - start < timeout) { + rclcpp::spin_some(node_); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + } + + void TearDown() override {} + + rclcpp::Time addMilliseconds(rclcpp::Time stamp, int ms) + { + auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); + return stamp + ms_in_ns; + } + + rclcpp::Time subtractMilliseconds(rclcpp::Time stamp, int ms) + { + auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); + return stamp - ms_in_ns; + } + + geometry_msgs::msg::TransformStamped generateTransformMsg( + const std::string & parent_frame, const std::string & child_frame, double x, double y, double z, + double qx, double qy, double qz, double qw) + { + geometry_msgs::msg::TransformStamped tf_msg; + tf_msg.header.stamp = node_->get_clock()->now(); + tf_msg.header.frame_id = parent_frame; + tf_msg.child_frame_id = child_frame; + tf_msg.transform.translation.x = x; + tf_msg.transform.translation.y = y; + tf_msg.transform.translation.z = z; + tf_msg.transform.rotation.x = qx; + tf_msg.transform.rotation.y = qy; + tf_msg.transform.rotation.z = qz; + tf_msg.transform.rotation.w = qw; + return tf_msg; + } + + std::vector generateStaticTransformMsg() + { + return { + generateTransformMsg("base_link", "lidar_top", 5.0, 5.0, 5.0, 0.683, 0.5, 0.183, 0.499), + generateTransformMsg("base_link", "imu_link", 1.0, 1.0, 3.0, 0.278, 0.717, 0.441, 0.453)}; + } + + std::shared_ptr generateTwistMsg( + double linear_x, double angular_z, rclcpp::Time stamp) + { + auto twist_msg = std::make_shared(); + twist_msg->header.stamp = stamp; + twist_msg->header.frame_id = "base_link"; + twist_msg->twist.twist.linear.x = linear_x; + twist_msg->twist.twist.angular.z = angular_z; + return twist_msg; + } + + std::shared_ptr generateImuMsg( + double angular_vel_x, double angular_vel_y, double angular_vel_z, rclcpp::Time stamp) + { + auto imu_msg = std::make_shared(); + imu_msg->header.stamp = stamp; + imu_msg->header.frame_id = "imu_link"; + imu_msg->angular_velocity.x = angular_vel_x; + imu_msg->angular_velocity.y = angular_vel_y; + imu_msg->angular_velocity.z = angular_vel_z; + return imu_msg; + } + + std::vector> generateTwistMsgs( + rclcpp::Time pointcloud_timestamp) + { + std::vector> twist_msgs; + rclcpp::Time twist_stamp = subtractMilliseconds(pointcloud_timestamp, 5); + + for (int i = 0; i < 6; ++i) { + auto twist_msg = generateTwistMsg(10.0 + i * 2, 0.02 + i * 0.01, twist_stamp); + twist_msgs.push_back(twist_msg); + // Make sure the twist stamp is not identical to any point stamp, and imu stamp + twist_stamp = addMilliseconds(twist_stamp, 24); + } + + return twist_msgs; + } + + std::vector> generateImuMsgs( + rclcpp::Time pointcloud_timestamp) + { + std::vector> imu_msgs; + rclcpp::Time imu_stamp = subtractMilliseconds(pointcloud_timestamp, 10); + + for (int i = 0; i < 6; ++i) { + auto imu_msg = + generateImuMsg(0.01 + i * 0.005, -0.02 + i * 0.005, 0.05 + i * 0.005, imu_stamp); + imu_msgs.push_back(imu_msg); + // Make sure the imu stamp is not identical to any point stamp, and twist stamp + imu_stamp = addMilliseconds(imu_stamp, 27); + } + + return imu_msgs; + } + + sensor_msgs::msg::PointCloud2 generatePointCloudMsg( + bool is_generate_points, bool is_lidar_frame, rclcpp::Time stamp) + { + sensor_msgs::msg::PointCloud2 pointcloud_msg; + pointcloud_msg.header.stamp = stamp; + pointcloud_msg.header.frame_id = is_lidar_frame ? "lidar_top" : "base_link"; + pointcloud_msg.height = 1; + pointcloud_msg.is_dense = true; + pointcloud_msg.is_bigendian = false; + pointcloud_msg.point_step = + 20; // 3 float32 fields * 4 bytes/field + 1 float64 field * 8 bytes/field + + if (is_generate_points) { + std::vector points = { + 10.0f, 0.0f, 0.0f, // point 1 + 0.0f, 10.0f, 0.0f, // point 2 + 0.0f, 0.0f, 10.0f, // point 3 + 20.0f, 0.0f, 0.0f, // point 4 + 0.0f, 20.0f, 0.0f, // point 5 + 0.0f, 0.0f, 20.0f, // point 6 + 30.0f, 0.0f, 0.0f, // point 7 + 0.0f, 30.0f, 0.0f, // point 8 + 0.0f, 0.0f, 30.0f, // point 9 + 10.0f, 10.0f, 10.0f // point 10 + }; + + size_t number_of_points = points.size() / 3; + std::vector timestamps = + generatePointTimestamps(is_generate_points, stamp, number_of_points); + + std::vector data(number_of_points * pointcloud_msg.point_step); + + for (size_t i = 0; i < number_of_points; ++i) { + std::memcpy(data.data() + i * pointcloud_msg.point_step, &points[i * 3], 3 * sizeof(float)); + std::memcpy( + data.data() + i * pointcloud_msg.point_step + 12, ×tamps[i], sizeof(double)); + } + + pointcloud_msg.width = number_of_points; + pointcloud_msg.row_step = pointcloud_msg.point_step * pointcloud_msg.width; + pointcloud_msg.data = std::move(data); + } else { + pointcloud_msg.width = 0; + pointcloud_msg.row_step = 0; + } + + sensor_msgs::msg::PointField x_field; + x_field.name = "x"; + x_field.offset = 0; + x_field.datatype = sensor_msgs::msg::PointField::FLOAT32; + x_field.count = 1; + + sensor_msgs::msg::PointField y_field; + y_field.name = "y"; + y_field.offset = 4; + y_field.datatype = sensor_msgs::msg::PointField::FLOAT32; + y_field.count = 1; + + sensor_msgs::msg::PointField z_field; + z_field.name = "z"; + z_field.offset = 8; + z_field.datatype = sensor_msgs::msg::PointField::FLOAT32; + z_field.count = 1; + + sensor_msgs::msg::PointField timestamp_field; + timestamp_field.name = "time_stamp"; + timestamp_field.offset = 12; + timestamp_field.datatype = sensor_msgs::msg::PointField::FLOAT64; + timestamp_field.count = 1; + + pointcloud_msg.fields = {x_field, y_field, z_field, timestamp_field}; + + return pointcloud_msg; + } + + std::vector generatePointTimestamps( + bool is_generate_points, rclcpp::Time pointcloud_timestamp, size_t number_of_points) + { + std::vector timestamps; + if (is_generate_points) { + rclcpp::Time point_stamp = pointcloud_timestamp; + for (size_t i = 0; i < number_of_points; ++i) { + double timestamp = point_stamp.seconds(); + timestamps.push_back(timestamp); + if (i > 0) { + point_stamp = point_stamp + rclcpp::Duration::from_seconds( + 0.001); // Assuming 1ms offset for demonstration + } + } + } + return timestamps; + } + + std::shared_ptr node_; + std::shared_ptr distortion_corrector_2d_; + std::shared_ptr distortion_corrector_3d_; + std::shared_ptr tf_broadcaster_; +}; + +TEST_F(DistortionCorrectorTest, TestProcessTwistMessage) +{ + auto twist_msg = generateTwistMsg(1.0, 0.5, node_->get_clock()->now()); + distortion_corrector_2d_->processTwistMessage(twist_msg); + + ASSERT_FALSE(distortion_corrector_2d_->twist_queue_.empty()); + EXPECT_EQ(distortion_corrector_2d_->twist_queue_.front().twist.linear.x, 1.0); + EXPECT_EQ(distortion_corrector_2d_->twist_queue_.front().twist.angular.z, 0.5); +} + +TEST_F(DistortionCorrectorTest, TestProcessIMUMessage) +{ + auto imu_msg = generateImuMsg(0.5, 0.3, 0.1, node_->get_clock()->now()); + distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); + + ASSERT_FALSE(distortion_corrector_2d_->angular_velocity_queue_.empty()); + EXPECT_NEAR(distortion_corrector_2d_->angular_velocity_queue_.front().vector.z, 0.0443032, 1e-5); +} + +TEST_F(DistortionCorrectorTest, TestIsInputValid) +{ + // input normal pointcloud without twist + sensor_msgs::msg::PointCloud2 pointcloud = + generatePointCloudMsg(true, false, node_->get_clock()->now()); + bool result = distortion_corrector_2d_->isInputValid(pointcloud); + EXPECT_FALSE(result); + + // input normal pointcloud with valid twist + auto twist_msg = generateTwistMsg(1.0, 0.5, node_->get_clock()->now()); + distortion_corrector_2d_->processTwistMessage(twist_msg); + + pointcloud = generatePointCloudMsg(true, false, node_->get_clock()->now()); + result = distortion_corrector_2d_->isInputValid(pointcloud); + EXPECT_TRUE(result); + + // input empty pointcloud + pointcloud = generatePointCloudMsg(false, false, node_->get_clock()->now()); + result = distortion_corrector_2d_->isInputValid(pointcloud); + EXPECT_FALSE(result); +} + +TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithBaseLink) +{ + distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists_); + EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed_); +} + +TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithLidarFrame) +{ + distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); + EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists_); + EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_needed_); +} + +TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithMissingFrame) +{ + distortion_corrector_2d_->setPointCloudTransform("base_link", "missing_lidar_frame"); + EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_exists_); + EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed_); +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyTwist) +{ + rclcpp::Time timestamp = node_->get_clock()->now(); + // Generate the point cloud message + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Process empty twist queue + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->undistortPointCloud(false, pointcloud); + + // Verify the point cloud is not changed + const float * data_ptr = reinterpret_cast(pointcloud.data.data()); + std::vector> expected_pointcloud = { + {10.0f, 0.0f, 0.0f}, {0.0f, 10.0f, 0.0f}, {0.0f, 0.0f, 10.0f}, {20.0f, 0.0f, 0.0f}, + {0.0f, 20.0f, 0.0f}, {0.0f, 0.0f, 20.0f}, {30.0f, 0.0f, 0.0f}, {0.0f, 30.0f, 0.0f}, + {0.0f, 0.0f, 30.0f}, {10.0f, 10.0f, 10.0f}, + }; + + for (size_t i = 0; i < expected_pointcloud.size(); ++i) { + EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 1e-5); + EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 1e-5); + EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 1e-5); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyPointCloud) +{ + rclcpp::Time timestamp = node_->get_clock()->now(); + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_2d_->processTwistMessage(twist_msg); + } + // Generate an empty point cloud message + sensor_msgs::msg::PointCloud2 empty_pointcloud = generatePointCloudMsg(false, false, timestamp); + + // Process empty point cloud + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->undistortPointCloud(true, empty_pointcloud); + + // Verify the point cloud is still empty + EXPECT_EQ(empty_pointcloud.width, 0); + EXPECT_EQ(empty_pointcloud.row_step, 0); +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) +{ + // Generate the point cloud message + rclcpp::Time timestamp = node_->get_clock()->now(); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_2d_->processTwistMessage(twist_msg); + } + + // Test using only twist + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_2d_->undistortPointCloud(false, pointcloud); + + const float * data_ptr = reinterpret_cast(pointcloud.data.data()); + + // Expected undistorted point cloud values + std::vector> expected_pointcloud = { + {10.0f, 0.0f, 0.0f}, {0.0f, 10.0f, 0.0f}, {0.012002f, 5.75338e-07f, 10.0f}, + {20.024f, 0.00191863f, 0.0f}, {0.0340828f, 20.0f, 0.0f}, {0.0479994f, 4.02654e-06f, 20.0f}, + {30.06f, 0.00575818f, 0.0f}, {0.0662481f, 30.0f, 0.0f}, {0.0839996f, 1.03542e-05f, 30.0f}, + {10.0931f, 10.0029f, 10.0f}, + }; + + // Verify each point in the undistorted point cloud + for (size_t i = 0; i < expected_pointcloud.size(); ++i) { + EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) +{ + // Generate the point cloud message + rclcpp::Time timestamp = node_->get_clock()->now(); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_2d_->processTwistMessage(twist_msg); + } + + // Generate and process multiple IMU messages + auto imu_msgs = generateImuMsgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); + } + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_2d_->undistortPointCloud(true, pointcloud); + + const float * data_ptr = reinterpret_cast(pointcloud.data.data()); + + // Expected undistorted point cloud values + std::vector> expected_pointcloud = { + {10.0f, 0.0f, 0.0f}, {0.0f, 10.0f, 0.0f}, {0.0119991f, 5.75201e-07f, 10.0f}, + {20.024f, 0.0019192f, 0.0f}, {0.0321653f, 20.0f, 0.0f}, {0.0479994f, 6.32762e-06f, 20.0f}, + {30.06f, 0.00863842f, 0.0f}, {0.063369f, 30.0f, 0.0f}, {0.0839996f, 1.84079e-05f, 30.0f}, + {10.0912f, 10.0048f, 10.0f}, + }; + + // Verify each point in the undistorted point cloud + for (size_t i = 0; i < expected_pointcloud.size(); ++i) { + EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) +{ + // Generate the point cloud message + rclcpp::Time timestamp = node_->get_clock()->now(); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_2d_->processTwistMessage(twist_msg); + } + + // Generate and process multiple IMU messages + auto imu_msgs = generateImuMsgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); + } + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); + distortion_corrector_2d_->undistortPointCloud(true, pointcloud); + + const float * data_ptr = reinterpret_cast(pointcloud.data.data()); + // Expected undistorted point cloud values + std::vector> expected_pointcloud = { + {10.0f, -1.77636e-15f, -4.44089e-16f}, {-2.66454e-15f, 10.0f, -8.88178e-16f}, + {0.00622853f, 0.00600991f, 10.0084f}, {20.0106f, 0.010948f, 0.0157355f}, + {0.0176543f, 20.0176f, 0.0248379f}, {0.024499f, 0.0245179f, 20.0348f}, + {30.0266f, 0.0255826f, 0.0357166f}, {0.0355204f, 30.0353f, 0.0500275f}, + {0.047132f, 0.0439795f, 30.0606f}, {10.0488f, 10.046f, 10.0636f}, + }; + + // Verify each point in the undistorted point cloud + for (size_t i = 0; i < expected_pointcloud.size(); ++i) { + EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) +{ + // Generate the point cloud message + rclcpp::Time timestamp = node_->get_clock()->now(); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_3d_->processTwistMessage(twist_msg); + } + + // Test using only twist + distortion_corrector_3d_->initialize(); + distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_3d_->undistortPointCloud(false, pointcloud); + + const float * data_ptr = reinterpret_cast(pointcloud.data.data()); + + // Expected undistorted point cloud values + std::vector> expected_pointcloud = { + {10.0f, 0.0f, 0.0f}, {0.0f, 10.0f, 0.0f}, {0.0119991f, 0.0f, 10.0f}, + {20.024f, 0.00120042f, 0.0f}, {0.0342002f, 20.0f, 0.0f}, {0.0479994f, 2.15994e-06f, 20.0f}, + {30.06f, 0.00450349f, 0.0f}, {0.0666005f, 30.0f, 0.0f}, {0.0839996f, 7.55993e-06f, 30.0f}, + {10.0936f, 10.0024f, 10.0f}, + }; + + // Verify each point in the undistorted point cloud + for (size_t i = 0; i < expected_pointcloud.size(); ++i) { + EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) +{ + // Generate the point cloud message + rclcpp::Time timestamp = node_->get_clock()->now(); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_3d_->processTwistMessage(twist_msg); + } + + // Generate and process multiple IMU messages + auto imu_msgs = generateImuMsgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); + } + + distortion_corrector_3d_->initialize(); + distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_3d_->undistortPointCloud(true, pointcloud); + + const float * data_ptr = reinterpret_cast(pointcloud.data.data()); + + // Expected undistorted point cloud values + std::vector> expected_pointcloud = { + {10.0f, 0.0f, 0.0f}, + {0.0f, 10.0f, 0.0f}, + {0.0118491f, -0.000149993f, 10.0f}, + {20.024f, 0.00220075f, 0.000600241f}, + {0.0327002f, 20.0f, 0.000900472f}, + {0.0468023f, -0.00119623f, 20.0f}, + {30.06f, 0.0082567f, 0.00225216f}, + {0.0621003f, 30.0f, 0.00270227f}, + {0.0808503f, -0.00313673f, 30.0f}, + {10.0904f, 10.0032f, 10.0024f}, + }; + + // Verify each point in the undistorted point cloud + for (size_t i = 0; i < expected_pointcloud.size(); ++i) { + EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) +{ + // Generate the point cloud message + rclcpp::Time timestamp = node_->get_clock()->now(); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_3d_->processTwistMessage(twist_msg); + } + + // Generate and process multiple IMU messages + auto imu_msgs = generateImuMsgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); + } + + distortion_corrector_3d_->initialize(); + distortion_corrector_3d_->setPointCloudTransform("base_link", "lidar_top"); + distortion_corrector_3d_->undistortPointCloud(true, pointcloud); + + const float * data_ptr = reinterpret_cast(pointcloud.data.data()); + // Expected undistorted point cloud values + std::vector> expected_pointcloud = { + {10.0f, 0.0f, 0.0f}, + {-4.76837e-07f, 10.0f, 4.76837e-07f}, + {0.00572586f, 0.00616837f, 10.0086f}, + {20.0103f, 0.0117249f, 0.0149349f}, + {0.0158343f, 20.0179f, 0.024497f}, + {0.0251098f, 0.0254798f, 20.0343f}, + {30.0259f, 0.0290527f, 0.034577f}, + {0.0319824f, 30.0358f, 0.0477753f}, + {0.0478067f, 0.0460052f, 30.06f}, + {10.0462f, 10.0489f, 10.0625f}, + }; + + // Verify each point in the undistorted point cloud + for (size_t i = 0; i < expected_pointcloud.size(); ++i) { + EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); + EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); + } +} + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + int ret = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return ret; +} diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_use_imu_false.py b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_use_imu_false.py deleted file mode 100644 index 35eb41f9dbc17..0000000000000 --- a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_use_imu_false.py +++ /dev/null @@ -1,240 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright 2023 TIER IV, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -import unittest - -from geometry_msgs.msg import TwistWithCovarianceStamped -import launch -from launch.logging import get_logger -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -import launch_testing -import numpy as np -import pytest -import rclpy -from rclpy.qos import QoSDurabilityPolicy -from rclpy.qos import QoSHistoryPolicy -from rclpy.qos import QoSProfile -from rclpy.qos import QoSReliabilityPolicy -from sensor_msgs.msg import PointCloud2 -from sensor_msgs.msg import PointField -from std_msgs.msg import Header - -logger = get_logger(__name__) - - -@pytest.mark.launch_test -def generate_test_description(): - nodes = [] - - nodes.append( - ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::DistortionCorrectorComponent", - name="distortion_corrector_node", - parameters=[ - { - "base_frame": "base_link", - "use_imu": False, - "use_3d_distortion_correction": False, - }, - ], - remappings=[ - ("~/input/twist", "/test/sensing/vehicle_velocity_converter/twist_with_covariance"), - ("~/input/imu", "/test/sensing/imu/imu_data"), - ("~/input/pointcloud", "/test/sensing/lidar/top/mirror_cropped/pointcloud_ex"), - ("~/output/pointcloud", "/test/sensing/lidar/top/rectified/pointcloud_ex"), - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - ) - - container = ComposableNodeContainer( - name="test_distortion_corrector_container", - namespace="pointcloud_preprocessor", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=nodes, - output="screen", - ) - - return launch.LaunchDescription( - [ - container, - # Start tests right away - no need to wait for anything - launch_testing.actions.ReadyToTest(), - ] - ) - - -class TestDistortionCorrector(unittest.TestCase): - @classmethod - def setUpClass(cls): - # Initialize the ROS context for the test node - rclpy.init() - - @classmethod - def tearDownClass(cls): - # Shutdown the ROS context - rclpy.shutdown() - - def setUp(self): - # Create a ROS node for tests - self.test_node = rclpy.create_node("test_node") - self.evaluation_time = 2 # 200ms - - def tearDown(self): - self.test_node.destroy_node() - - @staticmethod - def print_message(stat): - logger.debug("===========================") - logger.debug(stat) - - @staticmethod - def pointcloud2_to_xyz_array(cloud_msg): - cloud_arr = np.frombuffer(cloud_msg.data, dtype=np.float32) - cloud_arr = np.reshape(cloud_arr, (cloud_msg.width, int(cloud_msg.point_step / 4))) - return cloud_arr[:, :3] - - @staticmethod - def generate_pointcloud(num_points, header, timestamp_offset_per_point=0.01): - points_xyz = np.random.rand(num_points, 3).astype(np.float32) - timestamps = np.array( - [ - header.stamp.sec + header.stamp.nanosec * 1e-9 + timestamp_offset_per_point * i - for i in range(num_points) - ] - ).astype(np.float64) - xyz_data = points_xyz.tobytes() - timestamp_data = timestamps.tobytes() - pointcloud_data = b"".join( - xyz_data[i * 12 : i * 12 + 12] + timestamp_data[i * 8 : i * 8 + 8] - for i in range(len(xyz_data)) - ) - fields = [ - PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1), - PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1), - PointField(name="z", offset=8, datatype=PointField.FLOAT32, count=1), - PointField(name="time_stamp", offset=12, datatype=PointField.FLOAT64, count=1), - ] - pointcloud_msg = PointCloud2( - header=header, - height=1, - width=10, - is_dense=True, - is_bigendian=False, - point_step=20, # 4 float32 fields * 4 bytes/field - row_step=20 * num_points, # point_step * width - fields=fields, - data=pointcloud_data, - ) - return pointcloud_msg - - def test_node_link(self): - # QoS profile for sensor data - sensor_qos = QoSProfile( - history=QoSHistoryPolicy.KEEP_LAST, - depth=10, - reliability=QoSReliabilityPolicy.BEST_EFFORT, - durability=QoSDurabilityPolicy.VOLATILE, - ) - - # Publishers - velocity_pub = self.test_node.create_publisher( - TwistWithCovarianceStamped, - "/test/sensing/vehicle_velocity_converter/twist_with_covariance", - 10, - ) - pointcloud_pub = self.test_node.create_publisher( - PointCloud2, - "/test/sensing/lidar/top/mirror_cropped/pointcloud_ex", - qos_profile=sensor_qos, - ) - - # Subscribers - received_data = {"msg": None} - - def pointcloud_callback(msg): - received_data["msg"] = msg - - self.test_node.create_subscription( - PointCloud2, - "/test/sensing/lidar/top/rectified/pointcloud_ex", - pointcloud_callback, - qos_profile=sensor_qos, - ) - - # Wait for composable node launches - rclpy.spin_once(self.test_node, timeout_sec=1.0) - - # Prepare header - header = Header() - header.stamp = self.test_node.get_clock().now().to_msg() - header.frame_id = "base_link" - - # Publish velocity data - for i in range(50): - header_tmp = Header() - header_tmp.stamp = self.test_node.get_clock().now().to_msg() - header_tmp.frame_id = "base_link" - - velocity_msg = TwistWithCovarianceStamped() - velocity_msg.header = header_tmp - velocity_msg.twist.twist.linear.x = 1.0 - - velocity_pub.publish(velocity_msg) - rclpy.spin_once(self.test_node, timeout_sec=0.01) - - # Publish pointcloud data - num_points = 10 - pointcloud_msg = self.generate_pointcloud(num_points, header) - pointcloud_pub.publish(pointcloud_msg) - - # Wait for output with a timeout - start_time = self.test_node.get_clock().now() - while self.test_node.get_clock().now() - start_time < rclpy.duration.Duration( - seconds=self.evaluation_time - ): - rclpy.spin_once(self.test_node, timeout_sec=0.1) - if received_data["msg"] is not None: - break - - # Check if the output was received - self.assertIsNotNone(received_data["msg"], "Did not receive output pointcloud data") - - # Check that the received pointcloud data has same length as num_points - received_pointcloud = received_data["msg"] - self.assertEqual( - received_pointcloud.width, - num_points, - "The received pointcloud data has a different length than expected", - ) - - # Check that the received pointcloud data is different from the original one - original_pointcloud_arr = self.pointcloud2_to_xyz_array(pointcloud_msg) - received_pointcloud_arr = self.pointcloud2_to_xyz_array(received_pointcloud) - self.assertFalse( - np.allclose(original_pointcloud_arr, received_pointcloud_arr, atol=1e-6), - "The received pointcloud data is not different from the original one", - ) - - -@launch_testing.post_shutdown_test() -class TestProcessOutput(unittest.TestCase): - def test_exit_code(self, proc_info): - # Check that process exits with code 0: no error - launch_testing.asserts.assertExitCodes(proc_info) From 04ba365da278a2a879e0cbc5a4442aeb31021e6f Mon Sep 17 00:00:00 2001 From: beyzanurkaya <32412808+beyzanurkaya@users.noreply.github.com> Date: Wed, 3 Jul 2024 19:53:34 +0300 Subject: [PATCH 038/306] fix(tier4_planning_rviz_plugin): fix calculation of drivable area bounds (#7815) change angle condition Signed-off-by: beyza --- .../include/tier4_planning_rviz_plugin/path/display.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp index ef5663f024c8d..dc0cb0eb5188a 100644 --- a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp +++ b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp @@ -77,7 +77,7 @@ void visualizeBound( const float diff_angle = autoware::universe_utils::normalizeRadian(normal_vector_angle - curr_to_next_angle); - if (diff_angle == 0.0) { + if (diff_angle <= 1e-7 && diff_angle >= -1e-7) { return std::make_pair(normal_vector_angle, width); } From 90d5c32b333098d3b94d54cd416362272ce17d06 Mon Sep 17 00:00:00 2001 From: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Date: Thu, 4 Jul 2024 07:43:24 +0900 Subject: [PATCH 039/306] feat(obstacle_cruise_planner): support pointcloud-based obstacles (#6907) * add pointcloud to obstacle properties * add tf listener & pointcloud subscriber * add parameters for pointcloud obstacle * add type aliases * convert pointcloud to obstacle * add type alias * add polygon conversion for pointcloud obstacle * initialize twist & pose of pointcloud obstacle * overload to handle both obstacle & predicted path * implement ego behavior determination against pointcloud obstacles * generate obstacle from point * revert getCollisionIndex() * generate obstacle from each point in cloud * set pointcloud obstacle velocity to 0 * use tf buffer & listener with pointers * update latest pointcloud data * add topic remap * remove unnecessary includes * set slow down obstacle velocity to 0 * add flag to consider pointcloud obstacle for stopping & slowing down * style(pre-commit): autofix * downsample pointcloud using voxel grid * change shape type of pointcloud obstacle to polygon * convert pointcloud to obstacle by clustering * add parameters for clustering * add max_num_points parameter to dummy object * downsample pointcloud when the number of points is larger than max_num_points * add max_num_points property to dummy bus * add parameters for pointcloud based obstacles * store pointcloud in obstacle struct * change obstacle conversion method * migrate previous changes to new package * store necessary points only * move use_pointcloud to common parameter * extract necessary points from pointcloud * add use_pointcloud parameter to planner interface * fix obstacle conversion * fix collision point determination * simplify pointcloud transformation * style(pre-commit): autofix * fix collision point determination * pick nearest stop collision point * check collision for every point in cluster * migrate previous changes to new files * reduce diff * remove use_pointcloud parameter * add parameters for pointcloud filtering * add autoware namespace * Revert "add max_num_points parameter to dummy object" This reverts commit 98bcd0856f861d23c9f7989d8128939ec0b3e27c. * Revert "downsample pointcloud when the number of points is larger than max_num_points" This reverts commit fb00b59d8f14cec6810e7fab12bc34d8a0c617c7. * Revert "add max_num_points property to dummy bus" This reverts commit 5f9e4ab5ae7d8d46521c736b1d259040121f3bc5. * feat(diagnostic_graph_utils): add logging tool Signed-off-by: Takagi, Isamu * fix all OK Signed-off-by: Takagi, Isamu * feat(default_ad_api): add log when operation mode change fails Signed-off-by: Takagi, Isamu * get only the necessary one of object or pointcloud data * addfield for obstacle source type * enable simultaneous use of PredictedObjects and PointCloud * separate convertToObstacles() by source type * avoid using pointer * reduce diff * make nest shallower * define vector concatenate function * shorten variable names * fix redundant condition --------- Signed-off-by: Takagi, Isamu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --- .../motion_planning.launch.xml | 1 + .../config/obstacle_cruise_planner.param.yaml | 10 + .../common_structs.hpp | 32 +- .../autoware/obstacle_cruise_planner/node.hpp | 37 +- .../planner_interface.hpp | 6 +- .../obstacle_cruise_planner/type_alias.hpp | 7 + .../src/node.cpp | 341 +++++++++++++++++- .../src/planner_interface.cpp | 2 +- 8 files changed, 404 insertions(+), 32 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index ae43c2d81efb6..d0c34ea01b2c6 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -160,6 +160,7 @@ + diff --git a/planning/autoware_obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/autoware_obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml index 8b338e9d0cd9a..e797faaff9aa9 100644 --- a/planning/autoware_obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml +++ b/planning/autoware_obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml @@ -37,6 +37,7 @@ motorcycle: true bicycle: true pedestrian: true + pointcloud: false cruise_obstacle_type: inside: @@ -68,8 +69,17 @@ motorcycle: true bicycle: true pedestrian: true + pointcloud: false behavior_determination: + pointcloud_search_radius: 5.0 + pointcloud_voxel_grid_x: 0.05 + pointcloud_voxel_grid_y: 0.05 + pointcloud_voxel_grid_z: 100000.0 + pointcloud_cluster_tolerance: 1.0 + pointcloud_min_cluster_size: 1 + pointcloud_max_cluster_size: 100000 + decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking prediction_resampling_time_interval: 0.1 diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp index e4ae670ef6b97..fc8a0a96ade42 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp @@ -58,15 +58,15 @@ struct Obstacle const geometry_msgs::msg::Pose & arg_pose, const double ego_to_obstacle_distance, const double lat_dist_from_obstacle_to_traj) : stamp(arg_stamp), + ego_to_obstacle_distance(ego_to_obstacle_distance), + lat_dist_from_obstacle_to_traj(lat_dist_from_obstacle_to_traj), pose(arg_pose), orientation_reliable(true), twist(object.kinematics.initial_twist_with_covariance.twist), twist_reliable(true), classification(object.classification.at(0)), uuid(autoware::universe_utils::toHexString(object.object_id)), - shape(object.shape), - ego_to_obstacle_distance(ego_to_obstacle_distance), - lat_dist_from_obstacle_to_traj(lat_dist_from_obstacle_to_traj) + shape(object.shape) { predicted_paths.clear(); for (const auto & path : object.kinematics.predicted_paths) { @@ -74,9 +74,26 @@ struct Obstacle } } - Polygon2d toPolygon() const { return autoware::universe_utils::toPolygon2d(pose, shape); } + Obstacle( + const rclcpp::Time & arg_stamp, + const std::optional & stop_collision_point, + const std::optional & slow_down_front_collision_point, + const std::optional & slow_down_back_collision_point, + const double ego_to_obstacle_distance, const double lat_dist_from_obstacle_to_traj) + : stamp(arg_stamp), + ego_to_obstacle_distance(ego_to_obstacle_distance), + lat_dist_from_obstacle_to_traj(lat_dist_from_obstacle_to_traj), + stop_collision_point(stop_collision_point), + slow_down_front_collision_point(slow_down_front_collision_point), + slow_down_back_collision_point(slow_down_back_collision_point) + { + } rclcpp::Time stamp; // This is not the current stamp, but when the object was observed. + double ego_to_obstacle_distance; + double lat_dist_from_obstacle_to_traj; + + // for PredictedObject geometry_msgs::msg::Pose pose; // interpolated with the current stamp bool orientation_reliable; Twist twist; @@ -85,8 +102,11 @@ struct Obstacle std::string uuid; Shape shape; std::vector predicted_paths; - double ego_to_obstacle_distance; - double lat_dist_from_obstacle_to_traj; + + // for PointCloud + std::optional stop_collision_point; + std::optional slow_down_front_collision_point; + std::optional slow_down_back_collision_point; }; struct TargetObstacleInterface diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp index dd9a6c3880672..b96605f57b943 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp @@ -27,6 +27,9 @@ #include #include +#include +#include + #include #include #include @@ -58,16 +61,27 @@ class ObstacleCruisePlannerNode : public rclcpp::Node std::vector convertToObstacles( const Odometry & odometry, const PredictedObjects & objects, const std::vector & traj_points) const; + std::vector convertToObstacles( + const Odometry & odometry, const PointCloud2 & pointcloud, + const std::vector & traj_points, + const std_msgs::msg::Header & traj_header) const; std::tuple, std::vector, std::vector> - determineEgoBehaviorAgainstObstacles( + determineEgoBehaviorAgainstPredictedObjectObstacles( const Odometry & odometry, const PredictedObjects & objects, const std::vector & traj_points, const std::vector & obstacles); + std::tuple, std::vector, std::vector> + determineEgoBehaviorAgainstPointCloudObstacles( + const Odometry & odometry, const std::vector & traj_points, + const std::vector & obstacles); std::vector decimateTrajectoryPoints( const Odometry & odometry, const std::vector & traj_points) const; - std::optional createStopObstacle( + std::optional createStopObstacleForPredictedObject( const Odometry & odometry, const std::vector & traj_points, const std::vector & traj_polys, const Obstacle & obstacle, const double precise_lateral_dist) const; + std::optional createStopObstacleForPointCloud( + const std::vector & traj_points, const Obstacle & obstacle, + const double precise_lateral_dist) const; bool isStopObstacle(const uint8_t label) const; bool isInsideCruiseObstacle(const uint8_t label) const; bool isOutsideCruiseObstacle(const uint8_t label) const; @@ -94,9 +108,11 @@ class ObstacleCruisePlannerNode : public rclcpp::Node double calcCollisionTimeMargin( const Odometry & odometry, const std::vector & collision_points, const std::vector & traj_points, const bool is_driving_forward) const; - std::optional createSlowDownObstacle( + std::optional createSlowDownObstacleForPredictedObject( const Odometry & odometry, const std::vector & traj_points, const Obstacle & obstacle, const double precise_lat_dist); + std::optional createSlowDownObstacleForPointCloud( + const Obstacle & obstacle, const double precise_lat_dist); PlannerData createPlannerData( const Odometry & odometry, const AccelWithCovarianceStamped & acc, const std::vector & traj_points) const; @@ -116,6 +132,8 @@ class ObstacleCruisePlannerNode : public rclcpp::Node bool enable_debug_info_; bool enable_calculation_time_info_; + bool use_pointcloud_for_stop_; + bool use_pointcloud_for_slow_down_; double min_behavior_stop_margin_; bool enable_approaching_on_curve_; double additional_safe_distance_margin_on_curve_; @@ -149,9 +167,14 @@ class ObstacleCruisePlannerNode : public rclcpp::Node this, "~/input/odometry"}; autoware::universe_utils::InterProcessPollingSubscriber objects_sub_{ this, "~/input/objects"}; + autoware::universe_utils::InterProcessPollingSubscriber pointcloud_sub_{ + this, "~/input/pointcloud"}; autoware::universe_utils::InterProcessPollingSubscriber acc_sub_{ this, "~/input/acceleration"}; + std::unique_ptr tf_buffer_; + std::shared_ptr tf_listener_{nullptr}; + // Vehicle Parameters VehicleInfo vehicle_info_; @@ -182,6 +205,13 @@ class ObstacleCruisePlannerNode : public rclcpp::Node void onParam(const std::vector & parameters); double decimate_trajectory_step_length; + double pointcloud_search_radius; + double pointcloud_voxel_grid_x; + double pointcloud_voxel_grid_y; + double pointcloud_voxel_grid_z; + double pointcloud_cluster_tolerance; + int pointcloud_min_cluster_size; + int pointcloud_max_cluster_size; // hysteresis for stop and cruise double obstacle_velocity_threshold_from_cruise_to_stop; double obstacle_velocity_threshold_from_stop_to_cruise; @@ -271,6 +301,7 @@ class ObstacleCruisePlannerNode : public rclcpp::Node bool is_driving_forward_{true}; bool enable_slow_down_planning_{false}; + bool use_pointcloud_{false}; std::vector prev_closest_stop_obstacles_{}; diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp index 0641d076bb3ff..3679c253e2bbb 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp @@ -63,12 +63,13 @@ class PlannerInterface void setParam( const bool enable_debug_info, const bool enable_calculation_time_info, - const double min_behavior_stop_margin, const double enable_approaching_on_curve, - const double additional_safe_distance_margin_on_curve, + const bool use_pointcloud, const double min_behavior_stop_margin, + const double enable_approaching_on_curve, const double additional_safe_distance_margin_on_curve, const double min_safe_distance_margin_on_curve, const bool suppress_sudden_obstacle_stop) { enable_debug_info_ = enable_debug_info; enable_calculation_time_info_ = enable_calculation_time_info; + use_pointcloud_ = use_pointcloud; min_behavior_stop_margin_ = min_behavior_stop_margin; enable_approaching_on_curve_ = enable_approaching_on_curve; additional_safe_distance_margin_on_curve_ = additional_safe_distance_margin_on_curve; @@ -117,6 +118,7 @@ class PlannerInterface // Parameters bool enable_debug_info_{false}; bool enable_calculation_time_info_{false}; + bool use_pointcloud_{false}; LongitudinalInfo longitudinal_info_; double min_behavior_stop_margin_; bool enable_approaching_on_curve_; diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp index 5721efd051f63..03e536ce238cd 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp @@ -27,6 +27,7 @@ #include "geometry_msgs/msg/transform_stamped.hpp" #include "geometry_msgs/msg/twist_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" +#include "sensor_msgs/msg/point_cloud2.hpp" #include "tier4_debug_msgs/msg/float32_stamped.hpp" #include "tier4_planning_msgs/msg/stop_factor.hpp" #include "tier4_planning_msgs/msg/stop_reason_array.hpp" @@ -35,6 +36,9 @@ #include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include +#include + using autoware::vehicle_info_utils::VehicleInfo; using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::VelocityFactor; @@ -50,6 +54,7 @@ using geometry_msgs::msg::AccelStamped; using geometry_msgs::msg::AccelWithCovarianceStamped; using geometry_msgs::msg::Twist; using nav_msgs::msg::Odometry; +using sensor_msgs::msg::PointCloud2; using tier4_debug_msgs::msg::Float32Stamped; using tier4_planning_msgs::msg::StopFactor; using tier4_planning_msgs::msg::StopReason; @@ -63,4 +68,6 @@ namespace bg = boost::geometry; using autoware::universe_utils::Point2d; using autoware::universe_utils::Polygon2d; +using PointCloud = pcl::PointCloud; + #endif // AUTOWARE__OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_ diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index f6e7c2bb43b38..c8f962c3ad711 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -23,8 +23,15 @@ #include "autoware/universe_utils/ros/update_param.hpp" #include "object_recognition_utils/predicted_path_utils.hpp" +#include +#include + #include +#include +#include +#include + #include #include @@ -194,6 +201,15 @@ std::vector resampleTrajectoryPoints( return autoware::motion_utils::convertToTrajectoryPointArray(resampled_traj); } +geometry_msgs::msg::Point toGeomPoint(const pcl::PointXYZ & point) +{ + geometry_msgs::msg::Point geom_point; + geom_point.x = point.x; + geom_point.y = point.y; + geom_point.z = point.z; + return geom_point; +} + geometry_msgs::msg::Point toGeomPoint(const autoware::universe_utils::Point2d & point) { geometry_msgs::msg::Point geom_point; @@ -216,6 +232,12 @@ bool isLowerConsideringHysteresis( } return false; } + +template +void concatenate(std::vector & first, const std::vector & last) +{ + first.insert(first.end(), last.begin(), last.end()); +} } // namespace namespace autoware::motion_planning @@ -225,6 +247,20 @@ ObstacleCruisePlannerNode::BehaviorDeterminationParam::BehaviorDeterminationPara { // behavior determination decimate_trajectory_step_length = node.declare_parameter("behavior_determination.decimate_trajectory_step_length"); + pointcloud_search_radius = + node.declare_parameter("behavior_determination.pointcloud_search_radius"); + pointcloud_voxel_grid_x = + node.declare_parameter("behavior_determination.pointcloud_voxel_grid_x"); + pointcloud_voxel_grid_y = + node.declare_parameter("behavior_determination.pointcloud_voxel_grid_y"); + pointcloud_voxel_grid_z = + node.declare_parameter("behavior_determination.pointcloud_voxel_grid_z"); + pointcloud_cluster_tolerance = + node.declare_parameter("behavior_determination.pointcloud_cluster_tolerance"); + pointcloud_min_cluster_size = + node.declare_parameter("behavior_determination.pointcloud_min_cluster_size"); + pointcloud_max_cluster_size = + node.declare_parameter("behavior_determination.pointcloud_max_cluster_size"); obstacle_velocity_threshold_from_cruise_to_stop = node.declare_parameter( "behavior_determination.obstacle_velocity_threshold_from_cruise_to_stop"); obstacle_velocity_threshold_from_stop_to_cruise = node.declare_parameter( @@ -284,6 +320,21 @@ void ObstacleCruisePlannerNode::BehaviorDeterminationParam::onParam( autoware::universe_utils::updateParam( parameters, "behavior_determination.decimate_trajectory_step_length", decimate_trajectory_step_length); + autoware::universe_utils::updateParam( + parameters, "behavior_determination.pointcloud_search_radius", pointcloud_search_radius); + autoware::universe_utils::updateParam( + parameters, "behavior_determination.pointcloud_voxel_grid_x", pointcloud_voxel_grid_x); + autoware::universe_utils::updateParam( + parameters, "behavior_determination.pointcloud_voxel_grid_y", pointcloud_voxel_grid_y); + autoware::universe_utils::updateParam( + parameters, "behavior_determination.pointcloud_voxel_grid_z", pointcloud_voxel_grid_z); + autoware::universe_utils::updateParam( + parameters, "behavior_determination.pointcloud_cluster_tolerance", + pointcloud_cluster_tolerance); + autoware::universe_utils::updateParam( + parameters, "behavior_determination.pointcloud_min_cluster_size", pointcloud_min_cluster_size); + autoware::universe_utils::updateParam( + parameters, "behavior_determination.pointcloud_max_cluster_size", pointcloud_max_cluster_size); autoware::universe_utils::updateParam( parameters, "behavior_determination.crossing_obstacle.obstacle_velocity_threshold", crossing_obstacle_velocity_threshold); @@ -387,6 +438,10 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & debug_slow_down_planning_info_pub_ = create_publisher("~/debug/slow_down_planning_info", 1); + // tf listener + tf_buffer_ = std::make_unique(get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + const auto longitudinal_info = LongitudinalInfo(*this); ego_nearest_param_ = EgoNearestParam(*this); @@ -395,6 +450,11 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & enable_calculation_time_info_ = declare_parameter("common.enable_calculation_time_info"); enable_slow_down_planning_ = declare_parameter("common.enable_slow_down_planning"); + use_pointcloud_for_stop_ = declare_parameter("common.stop_obstacle_type.pointcloud"); + use_pointcloud_for_slow_down_ = + declare_parameter("common.slow_down_obstacle_type.pointcloud"); + use_pointcloud_ = use_pointcloud_for_stop_ || use_pointcloud_for_slow_down_; + behavior_determination_param_ = BehaviorDeterminationParam(*this); { // planning algorithm @@ -422,7 +482,7 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & suppress_sudden_obstacle_stop_ = declare_parameter("common.suppress_sudden_obstacle_stop"); planner_ptr_->setParam( - enable_debug_info_, enable_calculation_time_info_, min_behavior_stop_margin_, + enable_debug_info_, enable_calculation_time_info_, use_pointcloud_, min_behavior_stop_margin_, enable_approaching_on_curve_, additional_safe_distance_margin_on_curve_, min_safe_distance_margin_on_curve_, suppress_sudden_obstacle_stop_); } @@ -476,7 +536,7 @@ rcl_interfaces::msg::SetParametersResult ObstacleCruisePlannerNode::onParam( min_safe_distance_margin_on_curve_); planner_ptr_->setParam( - enable_debug_info_, enable_calculation_time_info_, min_behavior_stop_margin_, + enable_debug_info_, enable_calculation_time_info_, use_pointcloud_, min_behavior_stop_margin_, enable_approaching_on_curve_, additional_safe_distance_margin_on_curve_, min_safe_distance_margin_on_curve_, suppress_sudden_obstacle_stop_); @@ -495,13 +555,13 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms { const auto ego_odom_ptr = ego_odom_sub_.takeData(); const auto objects_ptr = objects_sub_.takeData(); + const auto pointcloud_ptr = use_pointcloud_ ? pointcloud_sub_.takeData() : nullptr; const auto acc_ptr = acc_sub_.takeData(); - if (!ego_odom_ptr || !objects_ptr || !acc_ptr) { + if (!ego_odom_ptr || (!objects_ptr && (!use_pointcloud_ || !pointcloud_ptr)) || !acc_ptr) { return; } const auto & ego_odom = *ego_odom_ptr; - const auto & objects = *objects_ptr; const auto & acc = *acc_ptr; const auto traj_points = autoware::motion_utils::convertToTrajectoryPointArray(*msg); @@ -516,15 +576,39 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms const auto is_driving_forward = autoware::motion_utils::isDrivingForwardWithTwist(traj_points); is_driving_forward_ = is_driving_forward ? is_driving_forward.value() : is_driving_forward_; - // 1. Convert predicted objects to obstacles which are - // (1) with a proper label - // (2) in front of ego - // (3) not too far from trajectory - const auto target_obstacles = convertToObstacles(ego_odom, objects, traj_points); + const auto & [stop_obstacles, cruise_obstacles, slow_down_obstacles] = [&]() { + std::vector stop_obstacles; + std::vector cruise_obstacles; + std::vector slow_down_obstacles; + if (objects_ptr) { + // 1. Convert predicted objects to obstacles which are + // (1) with a proper label + // (2) in front of ego + // (3) not too far from trajectory + const auto target_obstacles = convertToObstacles(ego_odom, *objects_ptr, traj_points); + + // 2. Determine ego's behavior against each obstacle from stop, cruise and slow down. + const auto & [stop_object_obstacles, cruise_object_obstacles, slow_down_object_obstacles] = + determineEgoBehaviorAgainstPredictedObjectObstacles( + ego_odom, *objects_ptr, traj_points, target_obstacles); + + concatenate(stop_obstacles, stop_object_obstacles); + concatenate(cruise_obstacles, cruise_object_obstacles); + concatenate(slow_down_obstacles, slow_down_object_obstacles); + } + if (pointcloud_ptr && !pointcloud_ptr->data.empty()) { + const auto target_obstacles = + convertToObstacles(ego_odom, *pointcloud_ptr, traj_points, msg->header); + + const auto & [stop_pc_obstacles, cruise_pc_obstacles, slow_down_pc_obstacles] = + determineEgoBehaviorAgainstPointCloudObstacles(ego_odom, traj_points, target_obstacles); - // 2. Determine ego's behavior against each obstacle from stop, cruise and slow down. - const auto & [stop_obstacles, cruise_obstacles, slow_down_obstacles] = - determineEgoBehaviorAgainstObstacles(ego_odom, objects, traj_points, target_obstacles); + concatenate(stop_obstacles, stop_pc_obstacles); + concatenate(cruise_obstacles, cruise_pc_obstacles); + concatenate(slow_down_obstacles, slow_down_pc_obstacles); + } + return std::make_tuple(stop_obstacles, cruise_obstacles, slow_down_obstacles); + }(); // 3. Create data for planning const auto planner_data = createPlannerData(ego_odom, acc, traj_points); @@ -715,6 +799,124 @@ std::vector ObstacleCruisePlannerNode::convertToObstacles( return target_obstacles; } +std::vector ObstacleCruisePlannerNode::convertToObstacles( + const Odometry & odometry, const PointCloud2 & pointcloud, + const std::vector & traj_points, const std_msgs::msg::Header & traj_header) const +{ + stop_watch_.tic(__func__); + + const auto & p = behavior_determination_param_; + + std::vector target_obstacles; + + std::optional transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + traj_header.frame_id, pointcloud.header.frame_id, pointcloud.header.stamp, + rclcpp::Duration::from_seconds(0.5)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + get_logger(), "Failed to look up transform from " << traj_header.frame_id << " to " + << pointcloud.header.frame_id); + transform_stamped = std::nullopt; + } + + if (transform_stamped) { + // 1. transform pointcloud + PointCloud::Ptr pointcloud_ptr(new PointCloud); + pcl::fromROSMsg(pointcloud, *pointcloud_ptr); + const Eigen::Matrix4f transform = + tf2::transformToEigen(transform_stamped.value().transform).matrix().cast(); + pcl::transformPointCloud(*pointcloud_ptr, *pointcloud_ptr, transform); + + // 2. downsample & cluster pointcloud + PointCloud::Ptr filtered_points_ptr(new PointCloud); + pcl::VoxelGrid filter; + filter.setInputCloud(pointcloud_ptr); + filter.setLeafSize( + p.pointcloud_voxel_grid_x, p.pointcloud_voxel_grid_y, p.pointcloud_voxel_grid_z); + filter.filter(*filtered_points_ptr); + + pcl::search::KdTree::Ptr tree(new pcl::search::KdTree); + tree->setInputCloud(filtered_points_ptr); + std::vector clusters; + pcl::EuclideanClusterExtraction ec; + ec.setClusterTolerance(p.pointcloud_cluster_tolerance); + ec.setMinClusterSize(p.pointcloud_min_cluster_size); + ec.setMaxClusterSize(p.pointcloud_max_cluster_size); + ec.setSearchMethod(tree); + ec.setInputCloud(filtered_points_ptr); + ec.extract(clusters); + + const auto max_lat_margin = + std::max(p.max_lat_margin_for_stop_against_unknown, p.max_lat_margin_for_slow_down); + const size_t ego_idx = ego_nearest_param_.findIndex(traj_points, odometry.pose.pose); + + // 3. convert clusters to obstacles + for (const auto & cluster_indices : clusters) { + double ego_to_stop_collision_distance = std::numeric_limits::max(); + double ego_to_slow_down_front_collision_distance = std::numeric_limits::max(); + double ego_to_slow_down_back_collision_distance = std::numeric_limits::min(); + double lat_dist_from_obstacle_to_traj = std::numeric_limits::max(); + double ego_to_obstacle_distance = std::numeric_limits::max(); + std::optional stop_collision_point = std::nullopt; + std::optional slow_down_front_collision_point = std::nullopt; + std::optional slow_down_back_collision_point = std::nullopt; + + for (const auto & index : cluster_indices.indices) { + const auto obstacle_point = toGeomPoint(filtered_points_ptr->points[index]); + const auto current_lat_dist_from_obstacle_to_traj = + autoware::motion_utils::calcLateralOffset(traj_points, obstacle_point); + const auto min_lat_dist_to_traj_poly = + std::abs(current_lat_dist_from_obstacle_to_traj) - vehicle_info_.vehicle_width_m; + + if (min_lat_dist_to_traj_poly < max_lat_margin) { + const auto current_ego_to_obstacle_distance = + calcDistanceToFrontVehicle(traj_points, ego_idx, obstacle_point); + if (current_ego_to_obstacle_distance) { + ego_to_obstacle_distance = + std::min(ego_to_obstacle_distance, *current_ego_to_obstacle_distance); + } else { + continue; + } + + lat_dist_from_obstacle_to_traj = + std::min(lat_dist_from_obstacle_to_traj, current_lat_dist_from_obstacle_to_traj); + + if (min_lat_dist_to_traj_poly < p.max_lat_margin_for_stop_against_unknown) { + if (*current_ego_to_obstacle_distance < ego_to_stop_collision_distance) { + stop_collision_point = obstacle_point; + ego_to_stop_collision_distance = *current_ego_to_obstacle_distance; + } + } else if (min_lat_dist_to_traj_poly < p.max_lat_margin_for_slow_down) { + if (*current_ego_to_obstacle_distance < ego_to_slow_down_front_collision_distance) { + slow_down_front_collision_point = obstacle_point; + ego_to_slow_down_front_collision_distance = *current_ego_to_obstacle_distance; + } else if ( + *current_ego_to_obstacle_distance > ego_to_slow_down_back_collision_distance) { + slow_down_back_collision_point = obstacle_point; + ego_to_slow_down_back_collision_distance = *current_ego_to_obstacle_distance; + } + } + } + } + + if (stop_collision_point || slow_down_front_collision_point) { + target_obstacles.emplace_back( + pointcloud.header.stamp, stop_collision_point, slow_down_front_collision_point, + slow_down_back_collision_point, ego_to_obstacle_distance, lat_dist_from_obstacle_to_traj); + } + } + } + + const double calculation_time = stop_watch_.toc(__func__); + RCLCPP_INFO_EXPRESSION( + rclcpp::get_logger("ObstacleCruisePlanner"), enable_debug_info_, " %s := %f [ms]", __func__, + calculation_time); + + return target_obstacles; +} + bool ObstacleCruisePlannerNode::isStopObstacle(const uint8_t label) const { const auto & types = stop_obstacle_types_; @@ -760,7 +962,7 @@ bool ObstacleCruisePlannerNode::isFrontCollideObstacle( } std::tuple, std::vector, std::vector> -ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( +ObstacleCruisePlannerNode::determineEgoBehaviorAgainstPredictedObjectObstacles( const Odometry & odometry, const PredictedObjects & objects, const std::vector & traj_points, const std::vector & obstacles) { @@ -778,7 +980,7 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( std::vector slow_down_obstacles; slow_down_condition_counter_.resetCurrentUuids(); for (const auto & obstacle : obstacles) { - const auto obstacle_poly = obstacle.toPolygon(); + const auto obstacle_poly = autoware::universe_utils::toPolygon2d(obstacle.pose, obstacle.shape); // Calculate distance between trajectory and obstacle first double precise_lat_dist = std::numeric_limits::max(); @@ -794,14 +996,14 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( cruise_obstacles.push_back(*cruise_obstacle); continue; } - const auto stop_obstacle = createStopObstacle( + const auto stop_obstacle = createStopObstacleForPredictedObject( odometry, decimated_traj_points, decimated_traj_polys, obstacle, precise_lat_dist); if (stop_obstacle) { stop_obstacles.push_back(*stop_obstacle); continue; } - const auto slow_down_obstacle = - createSlowDownObstacle(odometry, decimated_traj_points, obstacle, precise_lat_dist); + const auto slow_down_obstacle = createSlowDownObstacleForPredictedObject( + odometry, decimated_traj_points, obstacle, precise_lat_dist); if (slow_down_obstacle) { slow_down_obstacles.push_back(*slow_down_obstacle); continue; @@ -842,6 +1044,47 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( return {stop_obstacles, cruise_obstacles, slow_down_obstacles}; } +std::tuple, std::vector, std::vector> +ObstacleCruisePlannerNode::determineEgoBehaviorAgainstPointCloudObstacles( + const Odometry & odometry, const std::vector & traj_points, + const std::vector & obstacles) +{ + stop_watch_.tic(__func__); + + // calculated decimated trajectory points and trajectory polygon + const auto decimated_traj_points = decimateTrajectoryPoints(odometry, traj_points); + const auto decimated_traj_polys = + createOneStepPolygons(decimated_traj_points, vehicle_info_, odometry.pose.pose); + debug_data_ptr_->detection_polygons = decimated_traj_polys; + + // determine ego's behavior from stop and slow down + std::vector stop_obstacles; + std::vector slow_down_obstacles; + for (const auto & obstacle : obstacles) { + const auto & precise_lat_dist = obstacle.lat_dist_from_obstacle_to_traj; + + // Filter obstacles for stop and slow down + const auto stop_obstacle = + createStopObstacleForPointCloud(decimated_traj_points, obstacle, precise_lat_dist); + if (stop_obstacle) { + stop_obstacles.push_back(*stop_obstacle); + continue; + } + const auto slow_down_obstacle = createSlowDownObstacleForPointCloud(obstacle, precise_lat_dist); + if (slow_down_obstacle) { + slow_down_obstacles.push_back(*slow_down_obstacle); + continue; + } + } + + const double calculation_time = stop_watch_.toc(__func__); + RCLCPP_INFO_EXPRESSION( + rclcpp::get_logger("ObstacleCruisePlanner"), enable_calculation_time_info_, " %s := %f [ms]", + __func__, calculation_time); + + return {stop_obstacles, {}, slow_down_obstacles}; +} + std::vector ObstacleCruisePlannerNode::decimateTrajectoryPoints( const Odometry & odometry, const std::vector & traj_points) const { @@ -1173,7 +1416,7 @@ ObstacleCruisePlannerNode::createCollisionPointsForOutsideCruiseObstacle( return collision_points; } -std::optional ObstacleCruisePlannerNode::createStopObstacle( +std::optional ObstacleCruisePlannerNode::createStopObstacleForPredictedObject( const Odometry & odometry, const std::vector & traj_points, const std::vector & traj_polys, const Obstacle & obstacle, const double precise_lat_dist) const @@ -1264,7 +1507,45 @@ std::optional ObstacleCruisePlannerNode::createStopObstacle( normal_vel, collision_point->first, collision_point->second}; } -std::optional ObstacleCruisePlannerNode::createSlowDownObstacle( +std::optional ObstacleCruisePlannerNode::createStopObstacleForPointCloud( + const std::vector & traj_points, const Obstacle & obstacle, + const double precise_lat_dist) const +{ + const auto & p = behavior_determination_param_; + + if (!use_pointcloud_for_stop_) { + return std::nullopt; + } + + if (!obstacle.stop_collision_point) { + return std::nullopt; + } + + const double max_lat_margin_for_stop = + (obstacle.classification.label == ObjectClassification::UNKNOWN) + ? p.max_lat_margin_for_stop_against_unknown + : p.max_lat_margin_for_stop; + + if (precise_lat_dist > std::max(max_lat_margin_for_stop, 1e-3)) { + return std::nullopt; + } + + const auto dist_to_collide_on_traj = + autoware::motion_utils::calcSignedArcLength(traj_points, 0, *obstacle.stop_collision_point); + + return StopObstacle{ + obstacle.uuid, + obstacle.stamp, + obstacle.classification, + obstacle.pose, + obstacle.shape, + {}, + {}, + *obstacle.stop_collision_point, + dist_to_collide_on_traj}; +} + +std::optional ObstacleCruisePlannerNode::createSlowDownObstacleForPredictedObject( const Odometry & odometry, const std::vector & traj_points, const Obstacle & obstacle, const double precise_lat_dist) { @@ -1315,7 +1596,7 @@ std::optional ObstacleCruisePlannerNode::createSlowDownObstacl return std::nullopt; } - const auto obstacle_poly = obstacle.toPolygon(); + const auto obstacle_poly = autoware::universe_utils::toPolygon2d(obstacle.pose, obstacle.shape); // calculate collision points with trajectory with lateral stop margin // NOTE: For additional margin, hysteresis is not divided by two. @@ -1388,6 +1669,26 @@ std::optional ObstacleCruisePlannerNode::createSlowDownObstacl precise_lat_dist, front_collision_point, back_collision_point}; } +std::optional ObstacleCruisePlannerNode::createSlowDownObstacleForPointCloud( + const Obstacle & obstacle, const double precise_lat_dist) +{ + if (!enable_slow_down_planning_ || !use_pointcloud_for_slow_down_) { + return std::nullopt; + } + + if (!obstacle.slow_down_front_collision_point) { + return std::nullopt; + } + + auto front_collision_point = *obstacle.slow_down_front_collision_point; + auto back_collision_point = + obstacle.slow_down_back_collision_point.value_or(front_collision_point); + + return SlowDownObstacle{ + obstacle.uuid, obstacle.stamp, obstacle.classification, obstacle.pose, {}, {}, + precise_lat_dist, front_collision_point, back_collision_point}; +} + void ObstacleCruisePlannerNode::checkConsistency( const rclcpp::Time & current_time, const PredictedObjects & predicted_objects, std::vector & stop_obstacles) diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index 516bf5579b82c..0413d4bbf3529 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -439,7 +439,7 @@ std::vector PlannerInterface::generateStopTrajectory( double PlannerInterface::calculateMarginFromObstacleOnCurve( const PlannerData & planner_data, const StopObstacle & stop_obstacle) const { - if (!enable_approaching_on_curve_) { + if (!enable_approaching_on_curve_ || use_pointcloud_) { return longitudinal_info_.safe_distance_margin; } From 2511ebf9dd47dfdcf0c30e2297578751f6ede1d0 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 08:23:15 +0900 Subject: [PATCH 040/306] fix(autoware_freespace_planning_algorithms): fix syntaxError (#7812) Signed-off-by: Ryuta Kambe --- .../scripts/bind/astar_search_pybind.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp index 0a76067bc77f8..f557926806382 100644 --- a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp +++ b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp @@ -99,6 +99,7 @@ class AstarSearchPython : public freespace_planning_algorithms::AstarSearch namespace py = pybind11; +// cppcheck-suppress syntaxError PYBIND11_MODULE(autoware_freespace_planning_algorithms_pybind, p) { auto pyPlannerWaypointsVector = From cfe9cdc77837010c0e330ca43265b85955fae532 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 09:08:18 +0900 Subject: [PATCH 041/306] fix(autoware_behavior_path_planner_common): fix knownConditionTrueFalse (#7816) Signed-off-by: Ryuta Kambe --- .../src/utils/path_shifter/path_shifter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp index a0ae99d54df0b..f88efa49f10ff 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp @@ -194,7 +194,7 @@ void PathShifter::applyLinearShifter(ShiftedPath * shifted_path) const double ith_shift_length = 0.0; if (i < shift_line.start_idx) { ith_shift_length = 0.0; - } else if (shift_line.start_idx <= i && i <= shift_line.end_idx) { + } else if (i <= shift_line.end_idx) { auto dist_from_start = arclength_arr.at(i) - arclength_arr.at(shift_line.start_idx); ith_shift_length = (dist_from_start / shifting_arclength) * delta_shift; } else { From 43ed25a5e11724d127a39c472f646df647794dc8 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 4 Jul 2024 09:21:11 +0900 Subject: [PATCH 042/306] refactor(cluster_merger)!: fix namespace and directory structure (#7738) feat(cluster_merger): refactor cluster merger node component Signed-off-by: Taekjin LEE --- perception/cluster_merger/CMakeLists.txt | 8 ++++---- .../node.cpp => cluster_merger_node.cpp} | 9 +++++---- .../node.hpp => src/cluster_merger_node.hpp} | 10 +++++----- 3 files changed, 14 insertions(+), 13 deletions(-) rename perception/cluster_merger/src/{cluster_merger/node.cpp => cluster_merger_node.cpp} (93%) rename perception/cluster_merger/{include/cluster_merger/node.hpp => src/cluster_merger_node.hpp} (92%) diff --git a/perception/cluster_merger/CMakeLists.txt b/perception/cluster_merger/CMakeLists.txt index 5ad0de572b44f..773cea6383f41 100644 --- a/perception/cluster_merger/CMakeLists.txt +++ b/perception/cluster_merger/CMakeLists.txt @@ -6,12 +6,12 @@ find_package(autoware_cmake REQUIRED) autoware_package() # Targets -ament_auto_add_library(cluster_merger_node_component SHARED - src/cluster_merger/node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/cluster_merger_node.cpp ) -rclcpp_components_register_node(cluster_merger_node_component - PLUGIN "cluster_merger::ClusterMergerNode" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::cluster_merger::ClusterMergerNode" EXECUTABLE cluster_merger_node) diff --git a/perception/cluster_merger/src/cluster_merger/node.cpp b/perception/cluster_merger/src/cluster_merger_node.cpp similarity index 93% rename from perception/cluster_merger/src/cluster_merger/node.cpp rename to perception/cluster_merger/src/cluster_merger_node.cpp index 48bf953027510..ada95b905d320 100644 --- a/perception/cluster_merger/src/cluster_merger/node.cpp +++ b/perception/cluster_merger/src/cluster_merger_node.cpp @@ -12,14 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "cluster_merger/node.hpp" +#include "cluster_merger_node.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include #include #include -namespace cluster_merger + +namespace autoware::cluster_merger { ClusterMergerNode::ClusterMergerNode(const rclcpp::NodeOptions & node_options) @@ -67,7 +68,7 @@ void ClusterMergerNode::objectsCallback( transformed_objects1.feature_objects.end()); pub_objects_->publish(output_objects); } -} // namespace cluster_merger +} // namespace autoware::cluster_merger #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(cluster_merger::ClusterMergerNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::cluster_merger::ClusterMergerNode) diff --git a/perception/cluster_merger/include/cluster_merger/node.hpp b/perception/cluster_merger/src/cluster_merger_node.hpp similarity index 92% rename from perception/cluster_merger/include/cluster_merger/node.hpp rename to perception/cluster_merger/src/cluster_merger_node.hpp index a60a76f1c2ef0..2213d413d7031 100644 --- a/perception/cluster_merger/include/cluster_merger/node.hpp +++ b/perception/cluster_merger/src/cluster_merger_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef CLUSTER_MERGER__NODE_HPP_ -#define CLUSTER_MERGER__NODE_HPP_ +#ifndef CLUSTER_MERGER_NODE_HPP_ +#define CLUSTER_MERGER_NODE_HPP_ #include "autoware/universe_utils/ros/transform_listener.hpp" #include "message_filters/subscriber.h" @@ -31,7 +31,7 @@ #include #include -namespace cluster_merger +namespace autoware::cluster_merger { using tier4_perception_msgs::msg::DetectedObjectsWithFeature; using tier4_perception_msgs::msg::DetectedObjectWithFeature; @@ -68,6 +68,6 @@ class ClusterMergerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_objects_; }; -} // namespace cluster_merger +} // namespace autoware::cluster_merger -#endif // CLUSTER_MERGER__NODE_HPP_ +#endif // CLUSTER_MERGER_NODE_HPP_ From 6049fe6e15c65461a780c2f568fc34959ddad13c Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 4 Jul 2024 09:30:17 +0900 Subject: [PATCH 043/306] fix(stop_filter): fix plugin name (#7820) Fixed plugin name Signed-off-by: Shintaro Sakoda --- localization/autoware_stop_filter/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization/autoware_stop_filter/CMakeLists.txt b/localization/autoware_stop_filter/CMakeLists.txt index f33ab41169cb3..96123e89c5050 100644 --- a/localization/autoware_stop_filter/CMakeLists.txt +++ b/localization/autoware_stop_filter/CMakeLists.txt @@ -10,7 +10,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "StopFilter" + PLUGIN "autoware::stop_filter::StopFilter" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR SingleThreadedExecutor ) From 0a6e19460330971172e2974febdc919bed5047a2 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 10:15:20 +0900 Subject: [PATCH 044/306] fix(object_merger): fix knownConditionTrueFalse (#7822) * fix(object_merger): fix knownConditionTrueFalse Signed-off-by: Ryuta Kambe * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/object_merger/src/association/data_association.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/object_merger/src/association/data_association.cpp b/perception/object_merger/src/association/data_association.cpp index c2f7d44fa779b..e317ac63d9831 100644 --- a/perception/object_merger/src/association/data_association.cpp +++ b/perception/object_merger/src/association/data_association.cpp @@ -141,7 +141,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( bool passed_gate = true; // dist gate - if (passed_gate) { + { // passed_gate is always true if (max_dist < dist) passed_gate = false; } // angle gate From 27f0b93319b54b18d1035cb15198994e0f66615f Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 10:16:19 +0900 Subject: [PATCH 045/306] fix(radar_object_tracker): fix knownConditionTrueFalse (#7824) * fix(radar_object_tracker): fix knownConditionTrueFalse Signed-off-by: Ryuta Kambe * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../radar_object_tracker/src/association/data_association.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/radar_object_tracker/src/association/data_association.cpp b/perception/radar_object_tracker/src/association/data_association.cpp index ac57a3f0a87c0..2d906ce55bcec 100644 --- a/perception/radar_object_tracker/src/association/data_association.cpp +++ b/perception/radar_object_tracker/src/association/data_association.cpp @@ -209,7 +209,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( bool passed_gate = true; // dist gate - if (passed_gate) { + { // passed_gate is always true if (max_dist < dist) { passed_gate = false; } From 7ae1bac0d88b70d4e59ce3ea310241ce31f39f75 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 10:25:47 +0900 Subject: [PATCH 046/306] fix(tracking_object_merger): fix knownConditionTrueFalse (#7825) * fix(tracking_object_merger): fix knownConditionTrueFalse Signed-off-by: Ryuta Kambe * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../tracking_object_merger/src/association/data_association.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/tracking_object_merger/src/association/data_association.cpp b/perception/tracking_object_merger/src/association/data_association.cpp index e77a71744fe9b..046fcf5986469 100644 --- a/perception/tracking_object_merger/src/association/data_association.cpp +++ b/perception/tracking_object_merger/src/association/data_association.cpp @@ -191,7 +191,7 @@ double DataAssociation::calcScoreBetweenObjects( bool passed_gate = true; // dist gate - if (passed_gate) { + { // passed_gate is always true if (max_dist < dist) passed_gate = false; } // angle gate From 052681ffdaf1672eb3d9b246c4e8926376acc3ac Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 10:47:08 +0900 Subject: [PATCH 047/306] fix(multi_object_tracker): fix knownConditionTrueFalse (#7821) * fix(multi_object_tracker): fix knownConditionTrueFalse Signed-off-by: Ryuta Kambe * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/data_association/data_association.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/multi_object_tracker/src/data_association/data_association.cpp b/perception/multi_object_tracker/src/data_association/data_association.cpp index 013137aa8b82c..f7b40cd178528 100644 --- a/perception/multi_object_tracker/src/data_association/data_association.cpp +++ b/perception/multi_object_tracker/src/data_association/data_association.cpp @@ -176,7 +176,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( bool passed_gate = true; // dist gate - if (passed_gate) { + { // passed_gate is always true if (max_dist < dist) passed_gate = false; } // area gate From 78a4ff1fb39892b84ba003f0db949b4eb610deda Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 4 Jul 2024 13:04:01 +0900 Subject: [PATCH 048/306] refactor(detection_by_tracker)!: fix namespace and directory structure (#7742) chore: remove unnecessary dependencies and rework package structure Signed-off-by: Taekjin LEE --- .../detection_by_tracker/CMakeLists.txt | 14 ++++---- .../launch/detection_by_tracker.launch.xml | 2 +- perception/detection_by_tracker/package.xml | 2 -- .../debugger}/debugger.hpp | 28 ++++++++------- ...core.cpp => detection_by_tracker_node.cpp} | 21 +++++++----- .../detection_by_tracker_node.hpp} | 34 +++++++++++-------- .../src/{ => utils}/utils.cpp | 6 ++-- .../utils}/utils.hpp | 10 +++--- 8 files changed, 65 insertions(+), 52 deletions(-) rename perception/detection_by_tracker/{include/detection_by_tracker => src/debugger}/debugger.hpp (85%) rename perception/detection_by_tracker/src/{detection_by_tracker_core.cpp => detection_by_tracker_node.cpp} (98%) rename perception/detection_by_tracker/{include/detection_by_tracker/detection_by_tracker_core.hpp => src/detection_by_tracker_node.hpp} (81%) rename perception/detection_by_tracker/src/{ => utils}/utils.cpp (91%) rename perception/detection_by_tracker/{include/detection_by_tracker => src/utils}/utils.hpp (82%) diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/detection_by_tracker/CMakeLists.txt index 3813f1ba4707f..112187551d924 100644 --- a/perception/detection_by_tracker/CMakeLists.txt +++ b/perception/detection_by_tracker/CMakeLists.txt @@ -26,22 +26,22 @@ include_directories( # Generate exe file set(DETECTION_BY_TRACKER_SRC - src/detection_by_tracker_core.cpp - src/utils.cpp + src/detection_by_tracker_node.cpp + src/utils/utils.cpp ) -ament_auto_add_library(detection_by_tracker_node SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED ${DETECTION_BY_TRACKER_SRC} ) -target_link_libraries(detection_by_tracker_node +target_link_libraries(${PROJECT_NAME} Eigen3::Eigen ${PCL_LIBRARIES} ) -rclcpp_components_register_node(detection_by_tracker_node - PLUGIN "DetectionByTracker" - EXECUTABLE detection_by_tracker +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::detection_by_tracker::DetectionByTracker" + EXECUTABLE detection_by_tracker_node ) ament_auto_package( diff --git a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml b/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml index 95e7cbf16b388..3fba5cb58f8f3 100644 --- a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml +++ b/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml @@ -4,7 +4,7 @@ - + diff --git a/perception/detection_by_tracker/package.xml b/perception/detection_by_tracker/package.xml index 52d4d3fcdd7a2..50bd876ce0605 100644 --- a/perception/detection_by_tracker/package.xml +++ b/perception/detection_by_tracker/package.xml @@ -16,9 +16,7 @@ autoware_universe_utils eigen euclidean_cluster - libpcl-all-dev object_recognition_utils - pcl_conversions rclcpp rclcpp_components shape_estimation diff --git a/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp b/perception/detection_by_tracker/src/debugger/debugger.hpp similarity index 85% rename from perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp rename to perception/detection_by_tracker/src/debugger/debugger.hpp index 0169082a2253a..242056c3ca316 100644 --- a/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp +++ b/perception/detection_by_tracker/src/debugger/debugger.hpp @@ -12,22 +12,23 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DETECTION_BY_TRACKER__DEBUGGER_HPP_ -#define DETECTION_BY_TRACKER__DEBUGGER_HPP_ +#ifndef DEBUGGER__DEBUGGER_HPP_ +#define DEBUGGER__DEBUGGER_HPP_ + +#include "autoware/universe_utils/ros/debug_publisher.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" +#include "euclidean_cluster/euclidean_cluster.hpp" +#include "euclidean_cluster/utils.hpp" +#include "euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" +#include "shape_estimation/shape_estimator.hpp" -#include -#include -#include -#include -#include #include -#include -#include -#include +#include "autoware_perception_msgs/msg/detected_objects.hpp" +#include "autoware_perception_msgs/msg/tracked_objects.hpp" +#include "tier4_perception_msgs/msg/detected_objects_with_feature.hpp" #include #include -#include #include #include @@ -46,6 +47,8 @@ #include #include +namespace autoware::detection_by_tracker +{ class Debugger { public: @@ -117,5 +120,6 @@ class Debugger return objects; } }; +} // namespace autoware::detection_by_tracker -#endif // DETECTION_BY_TRACKER__DEBUGGER_HPP_ +#endif // DEBUGGER__DEBUGGER_HPP_ diff --git a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp b/perception/detection_by_tracker/src/detection_by_tracker_node.cpp similarity index 98% rename from perception/detection_by_tracker/src/detection_by_tracker_core.cpp rename to perception/detection_by_tracker/src/detection_by_tracker_node.cpp index 4e502b359120d..c41d6002d9266 100644 --- a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp +++ b/perception/detection_by_tracker/src/detection_by_tracker_node.cpp @@ -12,12 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "detection_by_tracker/detection_by_tracker_core.hpp" +#define EIGEN_MPL2_ONLY + +#include "detection_by_tracker_node.hpp" +#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/math/unit_conversion.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" -#include -#include +#include +#include #include #include @@ -25,10 +29,6 @@ #include #include -#define EIGEN_MPL2_ONLY -#include -#include - using Label = autoware_perception_msgs::msg::ObjectClassification; namespace { @@ -80,6 +80,9 @@ boost::optional getReferenceShapeSizeInfo( } } // namespace +namespace autoware::detection_by_tracker +{ + void TrackerHandler::onTrackedObjects( const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr msg) { @@ -466,5 +469,7 @@ void DetectionByTracker::mergeOverSegmentedObjects( } } +} // namespace autoware::detection_by_tracker + #include -RCLCPP_COMPONENTS_REGISTER_NODE(DetectionByTracker) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::detection_by_tracker::DetectionByTracker) diff --git a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp b/perception/detection_by_tracker/src/detection_by_tracker_node.hpp similarity index 81% rename from perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp rename to perception/detection_by_tracker/src/detection_by_tracker_node.hpp index d6d030aadb000..4e58d53fa71aa 100644 --- a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp +++ b/perception/detection_by_tracker/src/detection_by_tracker_node.hpp @@ -12,24 +12,24 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DETECTION_BY_TRACKER__DETECTION_BY_TRACKER_CORE_HPP_ -#define DETECTION_BY_TRACKER__DETECTION_BY_TRACKER_CORE_HPP_ +#ifndef DETECTION_BY_TRACKER_NODE_HPP_ +#define DETECTION_BY_TRACKER_NODE_HPP_ -#include "detection_by_tracker/debugger.hpp" -#include "detection_by_tracker/utils.hpp" +#include "autoware/universe_utils/ros/published_time_publisher.hpp" +#include "debugger/debugger.hpp" +#include "euclidean_cluster/euclidean_cluster.hpp" +#include "euclidean_cluster/utils.hpp" +#include "euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" +#include "shape_estimation/shape_estimator.hpp" +#include "utils/utils.hpp" -#include -#include -#include -#include #include -#include -#include -#include +#include "autoware_perception_msgs/msg/detected_objects.hpp" +#include "autoware_perception_msgs/msg/tracked_objects.hpp" +#include "tier4_perception_msgs/msg/detected_objects_with_feature.hpp" #include #include -#include #include #include @@ -48,6 +48,10 @@ #include #include #include + +namespace autoware::detection_by_tracker +{ + class TrackerHandler { private: @@ -82,7 +86,7 @@ class DetectionByTracker : public rclcpp::Node std::map max_search_distance_for_merger_; std::map max_search_distance_for_divider_; - detection_by_tracker::utils::TrackerIgnoreLabel tracker_ignore_; + utils::TrackerIgnoreLabel tracker_ignore_; std::unique_ptr published_time_publisher_; @@ -109,4 +113,6 @@ class DetectionByTracker : public rclcpp::Node tier4_perception_msgs::msg::DetectedObjectsWithFeature & out_objects); }; -#endif // DETECTION_BY_TRACKER__DETECTION_BY_TRACKER_CORE_HPP_ +} // namespace autoware::detection_by_tracker + +#endif // DETECTION_BY_TRACKER_NODE_HPP_ diff --git a/perception/detection_by_tracker/src/utils.cpp b/perception/detection_by_tracker/src/utils/utils.cpp similarity index 91% rename from perception/detection_by_tracker/src/utils.cpp rename to perception/detection_by_tracker/src/utils/utils.cpp index 51c6e5724543b..b269d703be7d4 100644 --- a/perception/detection_by_tracker/src/utils.cpp +++ b/perception/detection_by_tracker/src/utils/utils.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "detection_by_tracker/utils.hpp" +#include "utils.hpp" #include -namespace detection_by_tracker +namespace autoware::detection_by_tracker { namespace utils { @@ -30,4 +30,4 @@ bool TrackerIgnoreLabel::isIgnore(const uint8_t label) const (label == Label::BICYCLE && BICYCLE) || (label == Label::PEDESTRIAN && PEDESTRIAN); } } // namespace utils -} // namespace detection_by_tracker +} // namespace autoware::detection_by_tracker diff --git a/perception/detection_by_tracker/include/detection_by_tracker/utils.hpp b/perception/detection_by_tracker/src/utils/utils.hpp similarity index 82% rename from perception/detection_by_tracker/include/detection_by_tracker/utils.hpp rename to perception/detection_by_tracker/src/utils/utils.hpp index ed783b0343a14..b7041124fa931 100644 --- a/perception/detection_by_tracker/include/detection_by_tracker/utils.hpp +++ b/perception/detection_by_tracker/src/utils/utils.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DETECTION_BY_TRACKER__UTILS_HPP_ -#define DETECTION_BY_TRACKER__UTILS_HPP_ +#ifndef UTILS__UTILS_HPP_ +#define UTILS__UTILS_HPP_ #include -namespace detection_by_tracker +namespace autoware::detection_by_tracker { namespace utils { @@ -34,6 +34,6 @@ struct TrackerIgnoreLabel bool isIgnore(const uint8_t label) const; }; // struct TrackerIgnoreLabel } // namespace utils -} // namespace detection_by_tracker +} // namespace autoware::detection_by_tracker -#endif // DETECTION_BY_TRACKER__UTILS_HPP_ +#endif // UTILS__UTILS_HPP_ From 4ff4f35236107125bb446a5fb1018034206031d5 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 13:53:21 +0900 Subject: [PATCH 049/306] fix(ci): skip when modified package has no cpp/hpp files (#7829) * fix(ci): skip when modified package has no cpp/hpp files Signed-off-by: veqcc * test Signed-off-by: veqcc * fix Signed-off-by: veqcc * restore Signed-off-by: veqcc --------- Signed-off-by: veqcc --- .github/workflows/cppcheck-differential.yaml | 24 +++++++++++++++----- 1 file changed, 18 insertions(+), 6 deletions(-) diff --git a/.github/workflows/cppcheck-differential.yaml b/.github/workflows/cppcheck-differential.yaml index 90fae29730afb..63f15cb9da319 100644 --- a/.github/workflows/cppcheck-differential.yaml +++ b/.github/workflows/cppcheck-differential.yaml @@ -53,31 +53,43 @@ jobs: done echo "full-paths=$paths" >> $GITHUB_OUTPUT + - name: Filter packages with no cpp/hpp files + id: filter-paths-no-cpp-files + run: | + filtered_paths="" + for dir in ${{ steps.get-full-paths.outputs.full-paths }}; do + if [ -d "$dir" ] && find "$dir" -name "*.cpp" -o -name "*.hpp" | grep -q .; then + filtered_paths="$filtered_paths $dir" + fi + done + echo "filtered-full-paths=$filtered_paths" >> $GITHUB_OUTPUT + # cspell: ignore suppr - name: Run Cppcheck on modified packages - if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }} continue-on-error: true id: cppcheck run: | - echo "Running Cppcheck on modified packages: ${{ steps.get-modified-packages.outputs.modified-packages }}" - cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions --inline-suppr ${{ steps.get-full-paths.outputs.full-paths }} 2> cppcheck-report.txt + echo "Running Cppcheck on modified packages: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths }}" + cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions --inline-suppr ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths }} 2> cppcheck-report.txt shell: bash - name: Setup Problem Matchers for cppcheck + if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }} run: echo "::add-matcher::.github/cppcheck-problem-matcher.json" - name: Show cppcheck-report result - if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }} run: | cat cppcheck-report.txt - name: Upload Cppcheck report - if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }} uses: actions/upload-artifact@v2 with: name: cppcheck-report path: cppcheck-report.txt - name: Fail the job if Cppcheck failed - if: ${{ steps.get-modified-packages.outputs.modified-packages != '' && steps.cppcheck.outcome == 'failure' }} + if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' && steps.cppcheck.outcome == 'failure' }} run: exit 1 From 9584fd50c92968eabf1900b2c0060599a7f352c0 Mon Sep 17 00:00:00 2001 From: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Date: Thu, 4 Jul 2024 14:00:56 +0900 Subject: [PATCH 050/306] refactor(tier4_control_launch): replace python launch with xml (#7682) * refactor: add xml version of control launch Signed-off-by: mitukou1109 * refactor: remove python version of control launch Signed-off-by: mitukou1109 * set default value of trajectory_follower_mode Signed-off-by: mitukou1109 * fix file extension to .py Signed-off-by: mitukou1109 * fix node name Signed-off-by: mitukou1109 * add lanelet info to the metrics Signed-off-by: mitukou1109 * style(pre-commit): autofix * Update launch/tier4_control_launch/launch/control.launch.xml Co-authored-by: Kosuke Takeuchi --------- Signed-off-by: mitukou1109 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi Co-authored-by: Kotaro Yoshimoto --- .../launch/control.launch.py | 517 ------------------ .../launch/control.launch.xml | 251 +++++++++ 2 files changed, 251 insertions(+), 517 deletions(-) delete mode 100644 launch/tier4_control_launch/launch/control.launch.py create mode 100644 launch/tier4_control_launch/launch/control.launch.xml diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py deleted file mode 100644 index 5843ec98d7068..0000000000000 --- a/launch/tier4_control_launch/launch/control.launch.py +++ /dev/null @@ -1,517 +0,0 @@ -# Copyright 2020 Tier IV, Inc. All rights reserved. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -import launch -from launch.actions import DeclareLaunchArgument -from launch.actions import GroupAction -from launch.actions import IncludeLaunchDescription -from launch.actions import OpaqueFunction -from launch.actions import SetLaunchConfiguration -from launch.conditions import IfCondition -from launch.conditions import UnlessCondition -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer -from launch_ros.actions import LoadComposableNodes -from launch_ros.actions import Node -from launch_ros.actions import PushRosNamespace -from launch_ros.descriptions import ComposableNode -from launch_ros.substitutions import FindPackageShare -import yaml - - -def launch_setup(context, *args, **kwargs): - with open(LaunchConfiguration("vehicle_param_file").perform(context), "r") as f: - vehicle_info_param = yaml.safe_load(f)["/**"]["ros__parameters"] - - with open(LaunchConfiguration("nearest_search_param_path").perform(context), "r") as f: - nearest_search_param = yaml.safe_load(f)["/**"]["ros__parameters"] - - with open( - LaunchConfiguration("trajectory_follower_node_param_path").perform(context), "r" - ) as f: - trajectory_follower_node_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open(LaunchConfiguration("lat_controller_param_path").perform(context), "r") as f: - lat_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open(LaunchConfiguration("lon_controller_param_path").perform(context), "r") as f: - lon_controller_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open(LaunchConfiguration("vehicle_cmd_gate_param_path").perform(context), "r") as f: - vehicle_cmd_gate_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open(LaunchConfiguration("lane_departure_checker_param_path").perform(context), "r") as f: - lane_departure_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open(LaunchConfiguration("control_validator_param_path").perform(context), "r") as f: - control_validator_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open( - LaunchConfiguration("operation_mode_transition_manager_param_path").perform(context), - "r", - ) as f: - operation_mode_transition_manager_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open(LaunchConfiguration("shift_decider_param_path").perform(context), "r") as f: - shift_decider_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open( - LaunchConfiguration("obstacle_collision_checker_param_path").perform(context), "r" - ) as f: - obstacle_collision_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open(LaunchConfiguration("aeb_param_path").perform(context), "r") as f: - aeb_param = yaml.safe_load(f)["/**"]["ros__parameters"] - with open(LaunchConfiguration("predicted_path_checker_param_path").perform(context), "r") as f: - predicted_path_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] - trajectory_follower_mode = LaunchConfiguration("trajectory_follower_mode").perform(context) - - controller_component = ComposableNode( - package="autoware_trajectory_follower_node", - plugin="autoware::motion::control::trajectory_follower_node::Controller", - name="controller_node_exe", - namespace="trajectory_follower", - remappings=[ - ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"), - ("~/input/current_odometry", "/localization/kinematic_state"), - ("~/input/current_steering", "/vehicle/status/steering_status"), - ("~/input/current_accel", "/localization/acceleration"), - ("~/input/current_operation_mode", "/system/operation_mode/state"), - ("~/output/predicted_trajectory", "lateral/predicted_trajectory"), - ("~/output/lateral_diagnostic", "lateral/diagnostic"), - ("~/output/slope_angle", "longitudinal/slope_angle"), - ("~/output/longitudinal_diagnostic", "longitudinal/diagnostic"), - ("~/output/stop_reason", "longitudinal/stop_reason"), - ("~/output/control_cmd", "control_cmd"), - ], - parameters=[ - { - "lateral_controller_mode": LaunchConfiguration("lateral_controller_mode"), - "longitudinal_controller_mode": LaunchConfiguration("longitudinal_controller_mode"), - }, - nearest_search_param, - trajectory_follower_node_param, - lon_controller_param, - lat_controller_param, - vehicle_info_param, - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - # lane departure checker - lane_departure_component = ComposableNode( - package="autoware_lane_departure_checker", - plugin="autoware::lane_departure_checker::LaneDepartureCheckerNode", - name="lane_departure_checker_node", - namespace="trajectory_follower", - remappings=[ - ("~/input/odometry", "/localization/kinematic_state"), - ("~/input/lanelet_map_bin", "/map/vector_map"), - ("~/input/route", "/planning/mission_planning/route"), - ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"), - ( - "~/input/predicted_trajectory", - "/control/trajectory_follower/lateral/predicted_trajectory", - ), - ], - parameters=[nearest_search_param, lane_departure_checker_param, vehicle_info_param], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - # shift decider - shift_decider_component = ComposableNode( - package="autoware_shift_decider", - plugin="autoware::shift_decider::ShiftDecider", - name="autoware_shift_decider", - remappings=[ - ("input/control_cmd", "/control/trajectory_follower/control_cmd"), - ("input/state", "/autoware/state"), - ("input/current_gear", "/vehicle/status/gear_status"), - ("output/gear_cmd", "/control/shift_decider/gear_cmd"), - ], - parameters=[ - shift_decider_param, - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - # autonomous emergency braking - autonomous_emergency_braking = ComposableNode( - package="autoware_autonomous_emergency_braking", - plugin="autoware::motion::control::autonomous_emergency_braking::AEB", - name="autonomous_emergency_braking", - remappings=[ - ("~/input/pointcloud", "/perception/obstacle_segmentation/pointcloud"), - ("~/input/velocity", "/vehicle/status/velocity_status"), - ("~/input/imu", "/sensing/imu/imu_data"), - ("~/input/odometry", "/localization/kinematic_state"), - ("~/input/objects", "/perception/object_recognition/objects"), - ( - "~/input/predicted_trajectory", - "/control/trajectory_follower/lateral/predicted_trajectory", - ), - ], - parameters=[ - aeb_param, - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - autonomous_emergency_braking_loader = LoadComposableNodes( - condition=IfCondition(LaunchConfiguration("enable_autonomous_emergency_braking")), - composable_node_descriptions=[autonomous_emergency_braking], - target_container="/control/control_container", - ) - - # autonomous emergency braking - predicted_path_checker = ComposableNode( - package="predicted_path_checker", - plugin="autoware::motion::control::predicted_path_checker::PredictedPathCheckerNode", - name="predicted_path_checker", - remappings=[ - ("~/input/objects", "/perception/object_recognition/objects"), - ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"), - ("~/input/current_accel", "/localization/acceleration"), - ("~/input/odometry", "/localization/kinematic_state"), - ( - "~/input/predicted_trajectory", - "/control/trajectory_follower/lateral/predicted_trajectory", - ), - ], - parameters=[ - vehicle_info_param, - predicted_path_checker_param, - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - predicted_path_checker_loader = LoadComposableNodes( - condition=IfCondition(LaunchConfiguration("enable_predicted_path_checker")), - composable_node_descriptions=[predicted_path_checker], - target_container="/control/control_container", - ) - - # vehicle cmd gate - vehicle_cmd_gate_component = ComposableNode( - package="autoware_vehicle_cmd_gate", - plugin="autoware::vehicle_cmd_gate::VehicleCmdGate", - name="vehicle_cmd_gate", - remappings=[ - ("input/steering", "/vehicle/status/steering_status"), - ("input/operation_mode", "/system/operation_mode/state"), - ("input/auto/control_cmd", "/control/trajectory_follower/control_cmd"), - ("input/auto/turn_indicators_cmd", "/planning/turn_indicators_cmd"), - ("input/auto/hazard_lights_cmd", "/planning/hazard_lights_cmd"), - ("input/auto/gear_cmd", "/control/shift_decider/gear_cmd"), - ("input/external/control_cmd", "/external/selected/control_cmd"), - ("input/external/turn_indicators_cmd", "/external/selected/turn_indicators_cmd"), - ("input/external/hazard_lights_cmd", "/external/selected/hazard_lights_cmd"), - ("input/external/gear_cmd", "/external/selected/gear_cmd"), - ("input/external_emergency_stop_heartbeat", "/external/selected/heartbeat"), - ("input/gate_mode", "/control/gate_mode_cmd"), - ("input/emergency/control_cmd", "/system/emergency/control_cmd"), - ("input/emergency/hazard_lights_cmd", "/system/emergency/hazard_lights_cmd"), - ("input/emergency/gear_cmd", "/system/emergency/gear_cmd"), - ("input/mrm_state", "/system/fail_safe/mrm_state"), - ("input/kinematics", "/localization/kinematic_state"), - ("input/acceleration", "/localization/acceleration"), - ("output/vehicle_cmd_emergency", "/control/command/emergency_cmd"), - ("output/control_cmd", "/control/command/control_cmd"), - ("output/gear_cmd", "/control/command/gear_cmd"), - ("output/turn_indicators_cmd", "/control/command/turn_indicators_cmd"), - ("output/hazard_lights_cmd", "/control/command/hazard_lights_cmd"), - ("output/gate_mode", "/control/current_gate_mode"), - ("output/engage", "/api/autoware/get/engage"), - ("output/external_emergency", "/api/autoware/get/emergency"), - ("output/operation_mode", "/control/vehicle_cmd_gate/operation_mode"), - ("~/service/engage", "/api/autoware/set/engage"), - ("~/service/external_emergency", "/api/autoware/set/emergency"), - # TODO(Takagi, Isamu): deprecated - ("input/engage", "/autoware/engage"), - ("~/service/external_emergency_stop", "~/external_emergency_stop"), - ("~/service/clear_external_emergency_stop", "~/clear_external_emergency_stop"), - ], - parameters=[ - vehicle_cmd_gate_param, - vehicle_info_param, - { - "check_external_emergency_heartbeat": LaunchConfiguration( - "check_external_emergency_heartbeat" - ), - }, - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - # operation mode transition manager - autoware_operation_mode_transition_manager_component = ComposableNode( - package="autoware_operation_mode_transition_manager", - plugin="autoware::operation_mode_transition_manager::OperationModeTransitionManager", - name="autoware_operation_mode_transition_manager", - remappings=[ - # input - ("kinematics", "/localization/kinematic_state"), - ("steering", "/vehicle/status/steering_status"), - ("trajectory", "/planning/scenario_planning/trajectory"), - ("control_cmd", "/control/command/control_cmd"), - ("trajectory_follower_control_cmd", "/control/trajectory_follower/control_cmd"), - ("control_mode_report", "/vehicle/status/control_mode"), - ("gate_operation_mode", "/control/vehicle_cmd_gate/operation_mode"), - # output - ("is_autonomous_available", "/control/is_autonomous_available"), - ("control_mode_request", "/control/control_mode_request"), - ], - parameters=[ - nearest_search_param, - operation_mode_transition_manager_param, - vehicle_info_param, - ], - ) - - # external cmd selector - external_cmd_selector_loader = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - FindPackageShare("autoware_external_cmd_selector"), - "/launch/external_cmd_selector.launch.py", - ] - ), - launch_arguments=[ - ("use_intra_process", LaunchConfiguration("use_intra_process")), - ("target_container", "/control/control_container"), - ( - "external_cmd_selector_param_path", - LaunchConfiguration("external_cmd_selector_param_path"), - ), - ], - ) - - # external cmd converter - external_cmd_converter_loader = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - FindPackageShare("autoware_external_cmd_converter"), - "/launch/external_cmd_converter.launch.py", - ] - ), - launch_arguments=[ - ("use_intra_process", LaunchConfiguration("use_intra_process")), - ("target_container", "/control/control_container"), - ], - ) - - # obstacle collision checker - obstacle_collision_checker_component = ComposableNode( - package="obstacle_collision_checker", - plugin="obstacle_collision_checker::ObstacleCollisionCheckerNode", - name="obstacle_collision_checker", - remappings=[ - ("input/lanelet_map_bin", "/map/vector_map"), - ("input/obstacle_pointcloud", "/perception/obstacle_segmentation/pointcloud"), - ("input/reference_trajectory", "/planning/scenario_planning/trajectory"), - ( - "input/predicted_trajectory", - "/control/trajectory_follower/lateral/predicted_trajectory", - ), - ("input/odometry", "/localization/kinematic_state"), - ], - parameters=[ - obstacle_collision_checker_param, - vehicle_info_param, - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - - obstacle_collision_checker_loader = LoadComposableNodes( - condition=IfCondition(LaunchConfiguration("enable_obstacle_collision_checker")), - composable_node_descriptions=[obstacle_collision_checker_component], - target_container="/control/control_container", - ) - - glog_component = ComposableNode( - package="glog_component", - plugin="GlogComponent", - name="glog_component", - ) - - # set container to run all required components in the same process - if trajectory_follower_mode == "trajectory_follower_node": - container = ComposableNodeContainer( - name="control_container", - namespace="", - package="rclcpp_components", - executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=[ - controller_component, - lane_departure_component, - shift_decider_component, - vehicle_cmd_gate_component, - autoware_operation_mode_transition_manager_component, - glog_component, - ], - ) - - elif trajectory_follower_mode == "smart_mpc_trajectory_follower": - container = ComposableNodeContainer( - name="control_container", - namespace="", - package="rclcpp_components", - executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=[ - lane_departure_component, - shift_decider_component, - vehicle_cmd_gate_component, - autoware_operation_mode_transition_manager_component, - glog_component, - ], - ) - else: - raise Exception( - f"The argument trajectory_follower_mode must be either trajectory_follower_node or smart_mpc_trajectory_follower, but {trajectory_follower_mode} was given." - ) - - # control evaluator - control_evaluator_component = ComposableNode( - package="autoware_control_evaluator", - plugin="control_diagnostics::ControlEvaluatorNode", - name="control_evaluator", - remappings=[ - ("~/input/diagnostics", "/diagnostics"), - ("~/input/odometry", "/localization/kinematic_state"), - ("~/input/acceleration", "/localization/acceleration"), - ("~/input/trajectory", "/planning/scenario_planning/trajectory"), - ("~/metrics", "/diagnostic/control_evaluator/metrics"), - ("~/input/vector_map", "/map/vector_map"), - ("~/input/route", "/planning/mission_planning/route"), - ], - ) - - control_evaluator_loader = LoadComposableNodes( - composable_node_descriptions=[control_evaluator_component], - target_container="/control/control_container", - ) - - # control validator checker - control_validator_component = ComposableNode( - package="autoware_control_validator", - plugin="autoware::control_validator::ControlValidator", - name="control_validator", - remappings=[ - ("~/input/kinematics", "/localization/kinematic_state"), - ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"), - ( - "~/input/predicted_trajectory", - "/control/trajectory_follower/lateral/predicted_trajectory", - ), - ("~/output/validation_status", "~/validation_status"), - ], - parameters=[control_validator_param], - ) - - group = GroupAction( - [ - PushRosNamespace("control"), - container, - external_cmd_selector_loader, - external_cmd_converter_loader, - obstacle_collision_checker_loader, - autonomous_emergency_braking_loader, - predicted_path_checker_loader, - control_evaluator_loader, - ] - ) - - control_validator_group = GroupAction( - [ - PushRosNamespace("control"), - ComposableNodeContainer( - name="control_validator_container", - namespace="", - package="rclcpp_components", - executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=[ - control_validator_component, - ComposableNode( - package="glog_component", - plugin="GlogComponent", - name="glog_validator_component", - ), - ], - ), - ] - ) - - smart_mpc_trajectory_follower = Node( - package="autoware_smart_mpc_trajectory_follower", - executable="pympc_trajectory_follower.py", - name="controller_node_exe", - ) - if trajectory_follower_mode == "trajectory_follower_node": - return [group, control_validator_group] - elif trajectory_follower_mode == "smart_mpc_trajectory_follower": - return [group, control_validator_group, smart_mpc_trajectory_follower] - - -def generate_launch_description(): - launch_arguments = [] - - def add_launch_arg(name: str, default_value=None, description=None): - launch_arguments.append( - DeclareLaunchArgument(name, default_value=default_value, description=description) - ) - - # option - add_launch_arg("vehicle_param_file") - add_launch_arg("vehicle_id") - add_launch_arg("enable_obstacle_collision_checker") - add_launch_arg("lateral_controller_mode") - add_launch_arg("longitudinal_controller_mode") - # common param path - add_launch_arg("nearest_search_param_path") - # package param path - add_launch_arg("trajectory_follower_node_param_path") - add_launch_arg("lat_controller_param_path") - add_launch_arg("lon_controller_param_path") - add_launch_arg("vehicle_cmd_gate_param_path") - add_launch_arg("lane_departure_checker_param_path") - add_launch_arg("control_validator_param_path") - add_launch_arg("operation_mode_transition_manager_param_path") - add_launch_arg("shift_decider_param_path") - add_launch_arg("obstacle_collision_checker_param_path") - add_launch_arg("external_cmd_selector_param_path") - add_launch_arg("aeb_param_path") - add_launch_arg("predicted_path_checker_param_path") - add_launch_arg("enable_predicted_path_checker") - add_launch_arg("enable_autonomous_emergency_braking") - add_launch_arg("check_external_emergency_heartbeat") - - # component - add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication") - add_launch_arg("use_multithread", "true", "use multithread") - add_launch_arg( - "trajectory_follower_mode", - "trajectory_follower_node", - "Options for which trajectory_follower to use. Options: `trajectory_follower_node`, `smart_mpc_trajectory_follower`", - ) - set_container_executable = SetLaunchConfiguration( - "container_executable", - "component_container", - condition=UnlessCondition(LaunchConfiguration("use_multithread")), - ) - - set_container_mt_executable = SetLaunchConfiguration( - "container_executable", - "component_container_mt", - condition=IfCondition(LaunchConfiguration("use_multithread")), - ) - return launch.LaunchDescription( - launch_arguments - + [ - set_container_executable, - set_container_mt_executable, - ] - + [OpaqueFunction(function=launch_setup)] - ) diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml new file mode 100644 index 0000000000000..f23d9f74986e6 --- /dev/null +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -0,0 +1,251 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From b158a06d6b89c72dcfc562e7449a0a2d96a43615 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 14:02:32 +0900 Subject: [PATCH 051/306] chore(ci): remove unnecessary cppcheck suppresion (#7780) * chore(ci): remove unnecessary cppcheck suppresion Signed-off-by: Ryuta Kambe * remove syntaxError suppression Signed-off-by: Ryuta Kambe --------- Signed-off-by: Ryuta Kambe --- .cppcheck_suppressions | 2 -- 1 file changed, 2 deletions(-) diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions index b2ef5ac6c3f7e..74e4de15becf3 100644 --- a/.cppcheck_suppressions +++ b/.cppcheck_suppressions @@ -20,7 +20,6 @@ preprocessorErrorDirective redundantInitialization shadowFunction shadowVariable -syntaxError // cspell: ignore uninit uninitMemberVar unknownMacro @@ -30,6 +29,5 @@ unusedFunction unusedStructMember useInitializationList useStlAlgorithm -uselessOverride variableScope virtualCallInConstructor From f6d8b1850d3ce385e628c4a7a8e6a4932bb0248f Mon Sep 17 00:00:00 2001 From: TakumIto <61740530+TakumIto@users.noreply.github.com> Date: Thu, 4 Jul 2024 14:33:09 +0900 Subject: [PATCH 052/306] feat(freespace_planning_algorithms): add is_back flag into the return of A* python wrapper (#7831) add is_back flag to the return of getWaypoints Signed-off-by: Takumi Ito Co-authored-by: Takumi Ito --- .../astar_search.py | 11 ++++++++++- .../scripts/bind/astar_search_pybind.cpp | 3 ++- 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/planning/autoware_freespace_planning_algorithms/autoware_freespace_planning_algorithms/astar_search.py b/planning/autoware_freespace_planning_algorithms/autoware_freespace_planning_algorithms/astar_search.py index 2ffa20150fb0c..7b03a4024dc1b 100644 --- a/planning/autoware_freespace_planning_algorithms/autoware_freespace_planning_algorithms/astar_search.py +++ b/planning/autoware_freespace_planning_algorithms/autoware_freespace_planning_algorithms/astar_search.py @@ -24,6 +24,12 @@ AstarParam = _fp.AstarParam +class PlannerWaypoint: + def __init__(self, pose, is_back): + self.pose = pose + self.is_back = is_back + + class PlannerWaypoints: def __init__(self): self.waypoints = [] @@ -59,6 +65,9 @@ def getWaypoints(self): for waypoint in waypoints_vector.waypoints: pos = Point(x=waypoint[0], y=waypoint[1], z=waypoint[2]) quat = Quaternion(x=waypoint[3], y=waypoint[4], z=waypoint[5], w=waypoint[6]) - waypoints.waypoints.append(Pose(position=pos, orientation=quat)) + is_bask = bool(waypoint[7]) + waypoints.waypoints.append( + PlannerWaypoint(Pose(position=pos, orientation=quat), is_bask) + ) return waypoints diff --git a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp index f557926806382..8932fb277abe8 100644 --- a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp +++ b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp @@ -89,8 +89,9 @@ class AstarSearchPython : public freespace_planning_algorithms::AstarSearch // python-side. So this function returns [*position, *quaternion] as double array const auto & xyz = waypoint.pose.pose.position; const auto & quat = waypoint.pose.pose.orientation; + const double & is_back = waypoint.is_back; waypoints_vector.waypoints.push_back( - std::vector({xyz.x, xyz.y, xyz.z, quat.x, quat.y, quat.z, quat.w})); + std::vector({xyz.x, xyz.y, xyz.z, quat.x, quat.y, quat.z, quat.w, is_back})); } waypoints_vector.length = waypoints.compute_length(); return waypoints_vector; From 5d99550b77ca1887c1083f85068ed24aae2bbeae Mon Sep 17 00:00:00 2001 From: TakumIto <61740530+TakumIto@users.noreply.github.com> Date: Thu, 4 Jul 2024 14:38:05 +0900 Subject: [PATCH 053/306] chore(freespace_planning_algorithm): modify A* script for standalone running (#7070) * modify astar for standalone running move clearNoe() from setMap to makePlan(). Signed-off-by: Takumi Ito * small modification Signed-off-by: Takumi Ito * run pre-commit Signed-off-by: Takumi Ito --------- Signed-off-by: Takumi Ito Co-authored-by: Takumi Ito --- .../src/astar_search.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp index 6b04ca87bfb7d..1902b7aa2d091 100644 --- a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp @@ -131,10 +131,7 @@ void AstarSearch::setMap(const nav_msgs::msg::OccupancyGrid & costmap) { AbstractPlanningAlgorithm::setMap(costmap); - clearNodes(); - x_scale_ = costmap_.info.height; - graph_.reserve(100000); } bool AstarSearch::makePlan( @@ -143,6 +140,9 @@ bool AstarSearch::makePlan( start_pose_ = global2local(costmap_, start_pose); goal_pose_ = global2local(costmap_, goal_pose); + clearNodes(); + graph_.reserve(100000); + if (!setStartNode()) { return false; } From eb3ec5428b07f232ace2f05b3df05580cfd0dc0d Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 15:40:21 +0900 Subject: [PATCH 054/306] fix(radar_fusion_to_detected_object): fix knownConditionTrueFalse (#7814) * fix(radar_fusion_to_detected_object): fix knownConditionTrueFalse Signed-off-by: Ryuta Kambe * inline suppression Signed-off-by: Ryuta Kambe --------- Signed-off-by: Ryuta Kambe --- .../src/radar_fusion_to_detected_object.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp index 0c90a468f2ebd..0fb87c0f88ba0 100644 --- a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp +++ b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp @@ -95,6 +95,8 @@ RadarFusionToDetectedObject::Output RadarFusionToDetectedObject::update( for (auto & split_object : split_objects) { // set radars within objects std::shared_ptr> radars_within_split_object; + + // cppcheck-suppress knownConditionTrueFalse if (split_objects.size() == 1) { // If object is not split, radar data within object is same radars_within_split_object = radars_within_object; From a56359bdbc49c79992457b2ca0e810ff473145e5 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 15:43:33 +0900 Subject: [PATCH 055/306] fix(autoware_behavior_velocity_intersection_module): fix shadowFunction (#7835) * fix(autoware_behavior_velocity_intersection_module): fix shadowFunction Signed-off-by: Ryuta Kambe * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/intersection_lanelets.cpp | 3 +-- .../src/object_manager.cpp | 12 ++++-------- 2 files changed, 5 insertions(+), 10 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp index 648fc611ac6b1..943eef03fc6ce 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp @@ -48,11 +48,10 @@ void IntersectionLanelets::update( } } if (first_attention_lane_ && !second_attention_lane_ && !second_attention_lane_empty_) { - const auto first_attention_lane = first_attention_lane_.value(); // remove first_attention_area_ and non-straight lanelets from attention_non_preceding lanelet::ConstLanelets attention_non_preceding_ex_first; lanelet::ConstLanelets sibling_first_attention_lanelets; - for (const auto & previous : routing_graph_ptr->previous(first_attention_lane)) { + for (const auto & previous : routing_graph_ptr->previous(first_attention_lane_.value())) { for (const auto & following : routing_graph_ptr->following(previous)) { sibling_first_attention_lanelets.push_back(following); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp index 6ead1df3eb2d1..b749207aa2393 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp @@ -137,11 +137,9 @@ bool ObjectInfo::can_stop_before_stopline(const double brake_deceleration) const if (!dist_to_stopline_opt) { return false; } - const double observed_velocity = - predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x; + const double velocity = predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x; const double dist_to_stopline = dist_to_stopline_opt.value(); - const double braking_distance = - (observed_velocity * observed_velocity) / (2.0 * brake_deceleration); + const double braking_distance = (velocity * velocity) / (2.0 * brake_deceleration); return dist_to_stopline > braking_distance; } @@ -153,10 +151,8 @@ bool ObjectInfo::can_stop_before_ego_lane( return false; } const double dist_to_stopline = dist_to_stopline_opt.value(); - const double observed_velocity = - predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x; - const double braking_distance = - (observed_velocity * observed_velocity) / (2.0 * brake_deceleration); + const double velocity = predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x; + const double braking_distance = (velocity * velocity) / (2.0 * brake_deceleration); if (dist_to_stopline > braking_distance) { return false; } From b2ad6f5927199e2058170c4813631d696480c02b Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 4 Jul 2024 15:54:52 +0900 Subject: [PATCH 056/306] feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner (#7836) add diagnostics publishing to cruise planner Signed-off-by: Daniel Sanchez --- .../planner_interface.hpp | 6 ++ .../src/node.cpp | 3 +- .../src/planner_interface.cpp | 80 ++++++++++++++++++- 3 files changed, 86 insertions(+), 3 deletions(-) diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp index 3679c253e2bbb..0b54542cbea85 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp @@ -23,6 +23,8 @@ #include "autoware/universe_utils/ros/update_param.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" +#include + #include #include #include @@ -33,6 +35,8 @@ #include #include +using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; +using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; class PlannerInterface { public: @@ -52,6 +56,7 @@ class PlannerInterface node.create_publisher("/planning/velocity_factors/obstacle_cruise", 1); stop_speed_exceeded_pub_ = node.create_publisher("~/output/stop_speed_exceeded", 1); + diagnostics_pub_ = node.create_publisher("/diagnostics", 10); moving_object_speed_threshold = node.declare_parameter("slow_down.moving_object_speed_threshold"); @@ -135,6 +140,7 @@ class PlannerInterface rclcpp::Publisher::SharedPtr stop_reasons_pub_; rclcpp::Publisher::SharedPtr velocity_factors_pub_; rclcpp::Publisher::SharedPtr stop_speed_exceeded_pub_; + rclcpp::Publisher::SharedPtr diagnostics_pub_; // Vehicle Parameters autoware::vehicle_info_utils::VehicleInfo vehicle_info_; diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index c8f962c3ad711..ec0b70e4e1b2d 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -557,7 +557,8 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms const auto objects_ptr = objects_sub_.takeData(); const auto pointcloud_ptr = use_pointcloud_ ? pointcloud_sub_.takeData() : nullptr; const auto acc_ptr = acc_sub_.takeData(); - if (!ego_odom_ptr || (!objects_ptr && (!use_pointcloud_ || !pointcloud_ptr)) || !acc_ptr) { + const bool can_detect_obstacles = objects_ptr || pointcloud_ptr; + if (!ego_odom_ptr || !can_detect_obstacles || !acc_ptr) { return; } diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index 0413d4bbf3529..c531c4fefac95 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -25,6 +25,8 @@ #include #include +#include + namespace { StopSpeedExceeded createStopSpeedExceededMsg( @@ -104,6 +106,78 @@ VelocityFactorArray makeVelocityFactorArray( return velocity_factor_array; } +DiagnosticArray makeEmptyStopReasonDiagnosticArray(const rclcpp::Time & current_time) +{ + // Create status + DiagnosticStatus status; + status.level = status.OK; + status.name = "obstacle_cruise_planner"; + diagnostic_msgs::msg::KeyValue key_value; + { + // Decision + key_value.key = "decision"; + key_value.value = "none"; + status.values.push_back(key_value); + } + // create array + DiagnosticArray diagnostics; + diagnostics.header.stamp = current_time; + diagnostics.header.frame_id = "map"; + diagnostics.status.push_back(status); + return diagnostics; +} + +DiagnosticArray makeStopReasonDiagnosticArray( + const PlannerData & planner_data, const geometry_msgs::msg::Pose & stop_pose, + const StopObstacle & stop_obstacle) +{ + // Create status + DiagnosticStatus status; + status.level = status.OK; + status.name = "obstacle_cruise_planner"; + diagnostic_msgs::msg::KeyValue key_value; + { + // Decision + key_value.key = "decision"; + key_value.value = "stop"; + status.values.push_back(key_value); + } + + { // Stop info + key_value.key = "stop_position"; + const auto & p = stop_pose.position; + key_value.value = + "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; + status.values.push_back(key_value); + key_value.key = "stop_orientation"; + const auto & o = stop_pose.orientation; + key_value.value = "{" + std::to_string(o.w) + ", " + std::to_string(o.x) + ", " + + std::to_string(o.y) + ", " + std::to_string(o.z) + "}"; + status.values.push_back(key_value); + const auto dist_to_stop_pose = autoware::motion_utils::calcSignedArcLength( + planner_data.traj_points, planner_data.ego_pose.position, stop_pose.position); + key_value.key = "distance_to_stop_pose"; + key_value.value = std::to_string(dist_to_stop_pose); + status.values.push_back(key_value); + } + + { + // Obstacle info + const auto & p = stop_obstacle.collision_point; + key_value.key = "collision_point"; + key_value.value = + "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; + status.values.push_back(key_value); + } + + // create array + DiagnosticArray diagnostics; + diagnostics.header.stamp = planner_data.current_time; + diagnostics.header.frame_id = "map"; + diagnostics.status.push_back(status); + return diagnostics; +} + double calcMinimumDistanceToStop( const double initial_vel, const double max_acc, const double min_acc) { @@ -245,7 +319,7 @@ std::vector PlannerInterface::generateStopTrajectory( if (stop_obstacles.empty()) { stop_reasons_pub_->publish(makeEmptyStopReasonArray(planner_data.current_time)); velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time)); - + diagnostics_pub_->publish(makeEmptyStopReasonDiagnosticArray(planner_data.current_time)); // delete marker const auto markers = autoware::motion_utils::createDeletedStopVirtualWallMarker(planner_data.current_time, 0); @@ -400,9 +474,11 @@ std::vector PlannerInterface::generateStopTrajectory( const auto stop_pose = output_traj_points.at(*zero_vel_idx).pose; const auto stop_reasons_msg = makeStopReasonArray(planner_data, stop_pose, *determined_stop_obstacle); + const auto stop_reason_diagnostic_array = + makeStopReasonDiagnosticArray(planner_data, stop_pose, *determined_stop_obstacle); stop_reasons_pub_->publish(stop_reasons_msg); velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time, stop_pose)); - + diagnostics_pub_->publish(stop_reason_diagnostic_array); // Publish if ego vehicle will over run against the stop point with a limit acceleration const bool will_over_run = determined_zero_vel_dist.value() > From 5a0776c6db3d93ca1b0a188e9864329e20a2d184 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 16:14:01 +0900 Subject: [PATCH 057/306] fix(diagnostic_graph_aggregator): fix shadowFunction (#7838) * fix(diagnostic_graph_aggregator): fix shadowFunction Signed-off-by: Ryuta Kambe * feat: modify variable name Signed-off-by: Takagi, Isamu --------- Signed-off-by: Ryuta Kambe Signed-off-by: Takagi, Isamu Co-authored-by: Takagi, Isamu --- .../src/common/graph/config.cpp | 4 ++-- .../src/common/graph/data.cpp | 12 ++++++------ .../src/common/graph/units.cpp | 8 ++++---- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp index 553c21b5ff4d7..496c95722002a 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp @@ -68,10 +68,10 @@ FileLoader::FileLoader(const PathConfig * path) } TreeData tree = TreeData::Load(path->resolved); - const auto paths = tree.optional("files").children("files"); + const auto files = tree.optional("files").children("files"); const auto edits = tree.optional("edits").children("edits"); const auto units = tree.optional("units").children("units"); - for (const auto & data : paths) create_path_config(data); + for (const auto & data : files) create_path_config(data); for (const auto & data : edits) create_edit_config(data); for (const auto & data : units) create_unit_config(data); } diff --git a/system/diagnostic_graph_aggregator/src/common/graph/data.cpp b/system/diagnostic_graph_aggregator/src/common/graph/data.cpp index ff186098c32e3..2a4aef7e39c1f 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/data.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/data.cpp @@ -35,25 +35,25 @@ TreeData::TreeData(const YAML::Node & yaml, const TreePath & path) : path_(path) TreeData::Item TreeData::required(const std::string & name) { // TODO(Takagi, Isamu): check map type. - const auto path = path_.field(name); + const auto tree_path = path_.field(name); if (!yaml_[name]) { - throw FieldNotFound(path); + throw FieldNotFound(tree_path); } const auto data = yaml_[name]; yaml_.remove(name); - return TreeData(data, path); + return TreeData(data, tree_path); } TreeData::Item TreeData::optional(const std::string & name) { // TODO(Takagi, Isamu): check map type. - const auto path = path_.field(name); + const auto tree_path = path_.field(name); if (!yaml_[name]) { - return TreeData(YAML::Node(YAML::NodeType::Undefined), path); + return TreeData(YAML::Node(YAML::NodeType::Undefined), tree_path); } const auto data = yaml_[name]; yaml_.remove(name); - return TreeData(data, path); + return TreeData(data, tree_path); } bool TreeData::is_valid() const diff --git a/system/diagnostic_graph_aggregator/src/common/graph/units.cpp b/system/diagnostic_graph_aggregator/src/common/graph/units.cpp index da801ae078e6c..d9cbdbaa64400 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/units.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/units.cpp @@ -84,12 +84,12 @@ void NodeUnit::initialize_status() LeafUnit::LeafUnit(const UnitLoader & unit) : BaseUnit(unit) { - const auto node = unit.data().required("node").text(); - const auto name = unit.data().required("name").text(); - const auto sep = node.empty() ? "" : ": "; + const auto diag_node = unit.data().required("node").text(); + const auto diag_name = unit.data().required("name").text(); + const auto sep = diag_node.empty() ? "" : ": "; struct_.path = unit.path(); - struct_.name = node + sep + name; + struct_.name = diag_node + sep + diag_name; status_.level = DiagnosticStatus::STALE; } From be5d5e96f4419f14c8d6a636710c6993f502972e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 4 Jul 2024 16:48:46 +0900 Subject: [PATCH 058/306] feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (#7828) * fix(safety_check): filter by yaw deviation to check object belongs to lane Signed-off-by: satoshi-ota * fix(static_obstacle_avoidance): check yaw only when the object is moving Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/scene.cpp | 4 +- .../src/util.cpp | 4 +- .../path_safety_checker/objects_filtering.hpp | 18 ++++++-- .../path_safety_checker/objects_filtering.cpp | 43 +++++++++++++++---- .../pull_out_planner_base.hpp | 5 ++- .../src/start_planner_module.cpp | 5 ++- .../src/utils.cpp | 34 +++++++++------ 7 files changed, 80 insertions(+), 33 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp index 856681d538db0..303d7449e40dd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp @@ -151,8 +151,8 @@ void AvoidanceByLaneChange::fillAvoidanceTargetObjects( const auto [object_within_target_lane, object_outside_target_lane] = utils::path_safety_checker::separateObjectsByLanelets( *planner_data_->dynamic_object, data.current_lanelets, - [](const auto & obj, const auto & lane) { - return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane); + [](const auto & obj, const auto & lane, const auto yaw_threshold) { + return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane, yaw_threshold); }); // Assume that the maximum allocation for data.other object is the sum of diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index d6f03f79186d8..b74cdbc6a569b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -145,8 +145,8 @@ PredictedObjects extractObjectsInExpandedPullOverLanes( route_handler, left_side, backward_distance, forward_distance, bound_offset); const auto [objects_in_lanes, others] = utils::path_safety_checker::separateObjectsByLanelets( - objects, lanes, [](const auto & obj, const auto & lanelet) { - return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lanelet); + objects, lanes, [](const auto & obj, const auto & lanelet, const auto yaw_threshold) { + return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lanelet, yaw_threshold); }); return objects_in_lanes; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp index 4fd6fce325f49..f73f989174b54 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp @@ -56,18 +56,24 @@ using tier4_planning_msgs::msg::PathPointWithLaneId; * * @param objects The predicted objects to filter. * @param lanelet + * @param yaw_threshold * @return result. */ -bool isCentroidWithinLanelet(const PredictedObject & object, const lanelet::ConstLanelet & lanelet); +bool isCentroidWithinLanelet( + const PredictedObject & object, const lanelet::ConstLanelet & lanelet, + const double yaw_threshold); /** * @brief Filters objects based on object polygon overlapping with lanelet. * * @param objects The predicted objects to filter. * @param lanelet + * @param yaw_threshold * @return result. */ -bool isPolygonOverlapLanelet(const PredictedObject & object, const lanelet::ConstLanelet & lanelet); +bool isPolygonOverlapLanelet( + const PredictedObject & object, const lanelet::ConstLanelet & lanelet, + const double yaw_threshold); bool isPolygonOverlapLanelet( const PredictedObject & object, const autoware::universe_utils::Polygon2d & lanelet_polygon); @@ -168,7 +174,9 @@ void filterObjectsByClass( */ std::pair, std::vector> separateObjectIndicesByLanelets( const PredictedObjects & objects, const lanelet::ConstLanelets & target_lanelets, - const std::function & condition); + const std::function & + condition, + const double yaw_threshold = M_PI); /** * @brief Separate the objects into two part based on whether the object is within lanelet. @@ -176,7 +184,9 @@ std::pair, std::vector> separateObjectIndicesByLanel */ std::pair separateObjectsByLanelets( const PredictedObjects & objects, const lanelet::ConstLanelets & target_lanelets, - const std::function & condition); + const std::function & + condition, + const double yaw_threshold = M_PI); /** * @brief Get the predicted path from an object. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp index 469be03eb905c..95a498b7b8475 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp @@ -57,15 +57,34 @@ bool is_within_circle( namespace autoware::behavior_path_planner::utils::path_safety_checker { -bool isCentroidWithinLanelet(const PredictedObject & object, const lanelet::ConstLanelet & lanelet) +bool isCentroidWithinLanelet( + const PredictedObject & object, const lanelet::ConstLanelet & lanelet, const double yaw_threshold) { - const auto & object_pos = object.kinematics.initial_pose_with_covariance.pose.position; - lanelet::BasicPoint2d object_centroid(object_pos.x, object_pos.y); - return boost::geometry::within(object_centroid, lanelet.polygon2d().basicPolygon()); + const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; + const auto closest_pose = lanelet::utils::getClosestCenterPose(lanelet, object_pose.position); + if ( + std::abs(autoware::universe_utils::calcYawDeviation(closest_pose, object_pose)) > + yaw_threshold) { + return false; + } + + return boost::geometry::within( + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pose.position)) + .basicPoint(), + lanelet.polygon2d().basicPolygon()); } -bool isPolygonOverlapLanelet(const PredictedObject & object, const lanelet::ConstLanelet & lanelet) +bool isPolygonOverlapLanelet( + const PredictedObject & object, const lanelet::ConstLanelet & lanelet, const double yaw_threshold) { + const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; + const auto closest_pose = lanelet::utils::getClosestCenterPose(lanelet, object_pose.position); + if ( + std::abs(autoware::universe_utils::calcYawDeviation(closest_pose, object_pose)) > + yaw_threshold) { + return false; + } + const auto lanelet_polygon = utils::toPolygon2d(lanelet); return isPolygonOverlapLanelet(object, lanelet_polygon); } @@ -174,7 +193,9 @@ void filterObjectsByClass( std::pair, std::vector> separateObjectIndicesByLanelets( const PredictedObjects & objects, const lanelet::ConstLanelets & target_lanelets, - const std::function & condition) + const std::function & + condition, + const double yaw_threshold) { if (target_lanelets.empty()) { return {}; @@ -184,7 +205,9 @@ std::pair, std::vector> separateObjectIndicesByLanel std::vector other_indices; for (size_t i = 0; i < objects.objects.size(); i++) { - const auto filter = [&](const auto & llt) { return condition(objects.objects.at(i), llt); }; + const auto filter = [&](const auto & llt) { + return condition(objects.objects.at(i), llt, yaw_threshold); + }; const auto found = std::find_if(target_lanelets.begin(), target_lanelets.end(), filter); if (found != target_lanelets.end()) { target_indices.push_back(i); @@ -198,13 +221,15 @@ std::pair, std::vector> separateObjectIndicesByLanel std::pair separateObjectsByLanelets( const PredictedObjects & objects, const lanelet::ConstLanelets & target_lanelets, - const std::function & condition) + const std::function & + condition, + const double yaw_threshold) { PredictedObjects target_objects; PredictedObjects other_objects; const auto [target_indices, other_indices] = - separateObjectIndicesByLanelets(objects, target_lanelets, condition); + separateObjectIndicesByLanelets(objects, target_lanelets, condition, yaw_threshold); target_objects.objects.reserve(target_indices.size()); other_objects.objects.reserve(other_indices.size()); diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp index 7b30745057743..03b6e13cb2d3e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp @@ -74,8 +74,9 @@ class PullOutPlannerBase *dynamic_objects, parameters_.th_moving_object_velocity); auto [pull_out_lane_stop_objects, others] = utils::path_safety_checker::separateObjectsByLanelets( - stop_objects, pull_out_lanes, [](const auto & obj, const auto & lane) { - return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane); + stop_objects, pull_out_lanes, + [](const auto & obj, const auto & lane, const auto yaw_threshold) { + return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane, yaw_threshold); }); utils::path_safety_checker::filterObjectsByClass( pull_out_lane_stop_objects, parameters_.object_types_to_check_for_path_generation); diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index 00b6649851f87..9b94d3505c405 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -1217,8 +1217,9 @@ PredictedObjects StartPlannerModule::filterStopObjectsInPullOutLanes( // filter for objects located in pull out lanes and moving at a speed below the threshold auto [stop_objects_in_pull_out_lanes, others] = utils::path_safety_checker::separateObjectsByLanelets( - stop_objects, pull_out_lanes, [](const auto & obj, const auto & lane) { - return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane); + stop_objects, pull_out_lanes, + [](const auto & obj, const auto & lane, const auto yaw_threshold) { + return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane, yaw_threshold); }); const auto path = planner_data_->route_handler->getCenterLinePath( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 03fe48c6ab441..4272d0eaf9c5d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -2064,21 +2064,35 @@ std::vector getSafetyCheckTargetObjects( return {}; } + const auto is_moving = [¶meters](const auto & object) { + const auto & object_twist = object.kinematics.initial_twist_with_covariance.twist; + const auto object_vel_norm = std::hypot(object_twist.linear.x, object_twist.linear.y); + const auto object_parameter = + parameters->object_parameters.at(utils::getHighestProbLabel(object.classification)); + return object_vel_norm > object_parameter.moving_speed_threshold; + }; + + const auto filter = + [&is_moving](const auto & object, const auto & lanelet, [[maybe_unused]] const auto unused) { + // filter by yaw deviation only when the object is moving because the head direction is not + // reliable while object is stopping. + const auto yaw_threshold = is_moving(object) ? M_PI_2 : M_PI; + return utils::path_safety_checker::isCentroidWithinLanelet(object, lanelet, yaw_threshold); + }; + // check right lanes if (check_right_lanes) { const auto check_lanes = getAdjacentLane(closest_lanelet, planner_data, p, true); if (p->check_other_object) { const auto [targets, others] = utils::path_safety_checker::separateObjectsByLanelets( - to_predicted_objects(data.other_objects), check_lanes, - utils::path_safety_checker::isCentroidWithinLanelet); + to_predicted_objects(data.other_objects), check_lanes, filter); append(targets); } if (p->check_unavoidable_object) { const auto [targets, others] = utils::path_safety_checker::separateObjectsByLanelets( - to_predicted_objects(unavoidable_objects), check_lanes, - utils::path_safety_checker::isCentroidWithinLanelet); + to_predicted_objects(unavoidable_objects), check_lanes, filter); append(targets); } @@ -2092,15 +2106,13 @@ std::vector getSafetyCheckTargetObjects( if (p->check_other_object) { const auto [targets, others] = utils::path_safety_checker::separateObjectsByLanelets( - to_predicted_objects(data.other_objects), check_lanes, - utils::path_safety_checker::isCentroidWithinLanelet); + to_predicted_objects(data.other_objects), check_lanes, filter); append(targets); } if (p->check_unavoidable_object) { const auto [targets, others] = utils::path_safety_checker::separateObjectsByLanelets( - to_predicted_objects(unavoidable_objects), check_lanes, - utils::path_safety_checker::isCentroidWithinLanelet); + to_predicted_objects(unavoidable_objects), check_lanes, filter); append(targets); } @@ -2114,15 +2126,13 @@ std::vector getSafetyCheckTargetObjects( if (p->check_other_object) { const auto [targets, others] = utils::path_safety_checker::separateObjectsByLanelets( - to_predicted_objects(data.other_objects), check_lanes, - utils::path_safety_checker::isCentroidWithinLanelet); + to_predicted_objects(data.other_objects), check_lanes, filter); append(targets); } if (p->check_unavoidable_object) { const auto [targets, others] = utils::path_safety_checker::separateObjectsByLanelets( - to_predicted_objects(unavoidable_objects), check_lanes, - utils::path_safety_checker::isCentroidWithinLanelet); + to_predicted_objects(unavoidable_objects), check_lanes, filter); append(targets); } From 2e2aef9db8bca063cce87c537b99ae7c1dd73aeb Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 4 Jul 2024 16:50:34 +0900 Subject: [PATCH 059/306] feat(goal_planner): prioritize pull over path by curvature (#7791) * feat(goal_planner): prioritize pull over path by curvature Signed-off-by: kosuke55 fix Signed-off-by: kosuke55 * add comment * pre commit Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 Co-authored-by: Mamoru Sobue --- .../config/goal_planner.param.yaml | 1 + .../goal_planner_parameters.hpp | 1 + .../pull_over_planner_base.hpp | 2 + .../src/goal_planner_module.cpp | 121 +++++++++++++----- .../src/manager.cpp | 1 + 5 files changed, 92 insertions(+), 34 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index 53e06631a81d5..e6f84e7eece0c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -22,6 +22,7 @@ lateral_offset_interval: 0.25 ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.5 + high_curvature_threshold: 0.1 # occupancy grid map occupancy_grid: diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp index bdb267ce223d3..6a10c0fb183f6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp @@ -60,6 +60,7 @@ struct GoalPlannerParameters double lateral_offset_interval{0.0}; double ignore_distance_from_lane_start{0.0}; double margin_from_boundary{0.0}; + double high_curvature_threshold{0.0}; // occupancy grid map bool use_occupancy_grid_for_goal_search{false}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp index d2ba416c7fa90..05385600926f5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp @@ -52,6 +52,7 @@ struct PullOverPath size_t goal_id{}; size_t id{}; bool decided_velocity{false}; + double max_curvature{0.0}; // max curvature of the parking path PathWithLaneId getFullPath() const { @@ -72,6 +73,7 @@ struct PullOverPath return path; } + // path from the pull over start pose to the end pose PathWithLaneId getParkingPath() const { const PathWithLaneId full_path = getFullPath(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 00510a8725e32..1a711adb133eb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -293,9 +293,18 @@ void GoalPlannerModule::onTimer() planner->setPlannerData(local_planner_data); planner->setPreviousModuleOutput(previous_module_output); auto pull_over_path = planner->plan(goal_candidate.goal_pose); - if (pull_over_path) { + if (pull_over_path && pull_over_path->getParkingPath().points.size() >= 3) { pull_over_path->goal_id = goal_candidate.id; pull_over_path->id = path_candidates.size(); + + // calculate absolute maximum curvature of parking path(start pose to end pose) for path + // priority + const std::vector curvatures = + autoware::motion_utils::calcCurvature(pull_over_path->getParkingPath().points); + pull_over_path->max_curvature = std::abs(*std::max_element( + curvatures.begin(), curvatures.end(), + [](const double & a, const double & b) { return std::abs(a) < std::abs(b); })); + path_candidates.push_back(*pull_over_path); // calculate closest pull over start pose for stop path const double start_arc_length = @@ -817,23 +826,37 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri const auto debugPrintPathPriority = [this]( const std::vector & sorted_pull_over_path_candidates, - const std::map & goal_id_to_index, - const std::optional> & path_id_to_margin_map_opt = std::nullopt, - const std::optional> & isSoftMarginOpt = - std::nullopt) { + const std::map & goal_id_to_index, const GoalCandidates & goal_candidates, + const std::map & path_id_to_margin_map, + const std::function & isSoftMargin, + const std::function & isHighCurvature) { std::stringstream ss; - ss << "\n---------------------- path priority ----------------------\n"; - for (const auto & path : sorted_pull_over_path_candidates) { - // clang-format off - ss << "path_type: " << magic_enum::enum_name(path.type) - << ", path_id: " << path.id - << ", goal_id: " << path.goal_id - << ", goal_priority:" << goal_id_to_index.at(path.goal_id); - // clang-format on - if (path_id_to_margin_map_opt && isSoftMarginOpt) { - ss << ", margin: " << path_id_to_margin_map_opt->at(path.id) - << ((*isSoftMarginOpt)(path) ? " (soft)" : " (hard)"); + + // unsafe goal and it's priority are not visible as debug marker in rviz, + // so exclude unsafe goal from goal_priority + std::map goal_id_and_priority; + { + int priority = 0; + for (const auto & goal_candidate : goal_candidates) { + goal_id_and_priority[goal_candidate.id] = goal_candidate.is_safe ? priority++ : -1; } + } + + ss << "\n---------------------- path priority ----------------------\n"; + for (size_t i = 0; i < sorted_pull_over_path_candidates.size(); ++i) { + const auto & path = sorted_pull_over_path_candidates[i]; + + // goal_index is same to goal priority including unsafe goal + const int goal_index = static_cast(goal_id_to_index.at(path.goal_id)); + const bool is_safe_goal = goal_candidates[goal_index].is_safe; + const int goal_priority = goal_id_and_priority[path.goal_id]; + + ss << "path_priority: " << i << ", path_type: " << magic_enum::enum_name(path.type) + << ", path_id: " << path.id << ", goal_id: " << path.goal_id + << ", goal_priority: " << (is_safe_goal ? std::to_string(goal_priority) : "unsafe") + << ", margin: " << path_id_to_margin_map.at(path.id) + << (isSoftMargin(path) ? " (soft)" : " (hard)") << ", curvature: " << path.max_curvature + << (isHighCurvature(path) ? " (high)" : " (low)"); ss << "\n"; } ss << "-----------------------------------------------------------\n"; @@ -844,6 +867,7 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri const auto & soft_margins = parameters_->object_recognition_collision_check_soft_margins; const auto & hard_margins = parameters_->object_recognition_collision_check_hard_margins; + // (1) Sort pull_over_path_candidates based on the order in goal_candidates // Create a map of goal_id to its index in goal_candidates std::map goal_id_to_index; for (size_t i = 0; i < goal_candidates.size(); ++i) { @@ -868,6 +892,7 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri // if object recognition is enabled, sort by collision check margin if (parameters_->use_object_recognition) { + // (2) Sort by collision check margins const std::vector margins = std::invoke([&]() { std::vector combined_margins = soft_margins; combined_margins.insert(combined_margins.end(), hard_margins.begin(), hard_margins.end()); @@ -914,23 +939,45 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri return path_id_to_margin_map[a.id] > path_id_to_margin_map[b.id]; }); - // Sort pull_over_path_candidates based on the order in efficient_path_order - if (parameters_->path_priority == "efficient_path") { - const auto isSoftMargin = [&](const PullOverPath & path) -> bool { - const double margin = path_id_to_margin_map[path.id]; - return std::any_of( - soft_margins.begin(), soft_margins.end(), - [margin](const double soft_margin) { return std::abs(margin - soft_margin) < 0.01; }); - }; - const auto isSameHardMargin = [&](const PullOverPath & a, const PullOverPath & b) -> bool { - return !isSoftMargin(a) && !isSoftMargin(b) && - std::abs(path_id_to_margin_map[a.id] - path_id_to_margin_map[b.id]) < 0.01; - }; + // (3) Sort by curvature + // If the curvature is less than the threshold, prioritize the path. + const auto isHighCurvature = [&](const PullOverPath & path) -> bool { + return path.max_curvature >= parameters_->high_curvature_threshold; + }; + const auto isSoftMargin = [&](const PullOverPath & path) -> bool { + const double margin = path_id_to_margin_map[path.id]; + return std::any_of( + soft_margins.begin(), soft_margins.end(), + [margin](const double soft_margin) { return std::abs(margin - soft_margin) < 0.01; }); + }; + const auto isSameHardMargin = [&](const PullOverPath & a, const PullOverPath & b) -> bool { + return !isSoftMargin(a) && !isSoftMargin(b) && + std::abs(path_id_to_margin_map[a.id] - path_id_to_margin_map[b.id]) < 0.01; + }; + + // NOTE: this is just partition sort based on curvature threshold within each sub partitions + std::stable_sort( + sorted_pull_over_path_candidates.begin(), sorted_pull_over_path_candidates.end(), + [&](const PullOverPath & a, const PullOverPath & b) { + // if both are soft margin or both are same hard margin, prioritize the path with lower + // curvature. + if ((isSoftMargin(a) && isSoftMargin(b)) || isSameHardMargin(a, b)) { + return !isHighCurvature(a) && isHighCurvature(b); + } + // otherwise, keep the order based on the margin. + return false; + }); + + // (4) Sort pull_over_path_candidates based on the order in efficient_path_order keeping the + // collision check margin and curvature priority. + if (parameters_->path_priority == "efficient_path") { std::stable_sort( sorted_pull_over_path_candidates.begin(), sorted_pull_over_path_candidates.end(), [&](const auto & a, const auto & b) { - // if both are soft margin or both are same hard margin, sort by planner priority + // if any of following conditions are met, sort by path type priority + // - both are soft margin + // - both are same hard margin if ((isSoftMargin(a) && isSoftMargin(b)) || isSameHardMargin(a, b)) { return comparePathTypePriority(a, b); } @@ -938,18 +985,24 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri return false; }); - // debug print path priority: sorted by efficient_path_order and collision check margin + // debug print path priority sorted by + // - efficient_path_order + // - collision check margin + // - curvature debugPrintPathPriority( - sorted_pull_over_path_candidates, goal_id_to_index, path_id_to_margin_map, isSoftMargin); + sorted_pull_over_path_candidates, goal_id_to_index, goal_candidates, path_id_to_margin_map, + isSoftMargin, isHighCurvature); } } else { - // Sort pull_over_path_candidates based on the order in efficient_path_order + /** + * NOTE: use_object_recognition=false is not recommended. This option will be deprecated in the + * future. sort by curvature is not implemented yet. + * Sort pull_over_path_candidates based on the order in efficient_path_order + */ if (parameters_->path_priority == "efficient_path") { std::stable_sort( sorted_pull_over_path_candidates.begin(), sorted_pull_over_path_candidates.end(), [&](const auto & a, const auto & b) { return comparePathTypePriority(a, b); }); - // debug print path priority: sorted by efficient_path_order and collision check margin - debugPrintPathPriority(sorted_pull_over_path_candidates, goal_id_to_index); } } diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index b079db9babf31..b86bbbca7d98b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -61,6 +61,7 @@ void GoalPlannerModuleManager::init(rclcpp::Node * node) p.ignore_distance_from_lane_start = node->declare_parameter(ns + "ignore_distance_from_lane_start"); p.margin_from_boundary = node->declare_parameter(ns + "margin_from_boundary"); + p.high_curvature_threshold = node->declare_parameter(ns + "high_curvature_threshold"); const std::string parking_policy_name = node->declare_parameter(ns + "parking_policy"); From 837855255d913437315d53545554545ab26c481c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 4 Jul 2024 17:07:23 +0900 Subject: [PATCH 060/306] fix(static_obstacle_avoidance): fix issues in target object filtering logic (#7830) * fix(static_obstacle_avoidance): check if object is inside/outside by its position point instead of its polygon Signed-off-by: satoshi-ota * refactor(static_obstacle_avoidance): add getter functions Signed-off-by: satoshi-ota * fix(static_obstacle_avoidance): check next lane without route if the current lane is not preferred Signed-off-by: satoshi-ota * fix(static_obstacle_avoidance): fix parked vehicle check Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../data_structs.hpp | 4 + .../src/debug.cpp | 10 +-- .../src/shift_line_generator.cpp | 16 ++-- .../src/utils.cpp | 84 ++++++++++--------- 4 files changed, 59 insertions(+), 55 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp index d02b39047e71c..49599004e0952 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp @@ -352,6 +352,10 @@ struct ObjectData // avoidance target { } + Pose getPose() const { return object.kinematics.initial_pose_with_covariance.pose; } + + Point getPosition() const { return object.kinematics.initial_pose_with_covariance.pose.position; } + PredictedObject object; // object behavior. diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp index 9c771224e89eb..eb0d903f2e398 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp @@ -64,7 +64,7 @@ MarkerArray createObjectsCubeMarkerArray( } marker.id = uuidToInt32(object.object.object_id); - marker.pose = object.object.kinematics.initial_pose_with_covariance.pose; + marker.pose = object.getPose(); msg.markers.push_back(marker); } @@ -80,10 +80,8 @@ MarkerArray createObjectPolygonMarkerArray(const ObjectDataArray & objects, std: "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, 0L, Marker::LINE_STRIP, createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); - const auto pos = object.object.kinematics.initial_pose_with_covariance.pose.position; - for (const auto & p : object.envelope_poly.outer()) { - marker.points.push_back(createPoint(p.x(), p.y(), pos.z)); + marker.points.push_back(createPoint(p.x(), p.y(), object.getPosition().z)); } marker.points.push_back(marker.points.front()); @@ -142,7 +140,7 @@ MarkerArray createObjectInfoMarkerArray( for (const auto & object : objects) { if (verbose) { marker.id = uuidToInt32(object.object.object_id); - marker.pose = object.object.kinematics.initial_pose_with_covariance.pose; + marker.pose = object.getPose(); std::ostringstream string_stream; string_stream << std::fixed << std::setprecision(2) << std::boolalpha; string_stream << "ratio:" << object.shiftable_ratio << " [-]\n" @@ -162,7 +160,7 @@ MarkerArray createObjectInfoMarkerArray( { marker.id = uuidToInt32(object.object.object_id); - marker.pose = object.object.kinematics.initial_pose_with_covariance.pose; + marker.pose = object.getPose(); marker.pose.position.z += 2.0; std::ostringstream string_stream; string_stream << magic_enum::enum_name(object.info) << (object.is_parked ? "(PARKED)" : ""); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index a171ae9161041..c3a67eb074d73 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -165,9 +165,9 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( } // the avoidance path is already approved - const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position; - const auto is_approved = (helper_->getShift(object_pos) > 0.0 && is_object_on_right) || - (helper_->getShift(object_pos) < 0.0 && !is_object_on_right); + const auto is_approved = + (helper_->getShift(object.getPosition()) > 0.0 && is_object_on_right) || + (helper_->getShift(object.getPosition()) < 0.0 && !is_object_on_right); if (is_approved) { return std::make_pair(desire_shift_length, avoidance_distance); } @@ -363,9 +363,8 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( if (is_return_shift_to_goal) { return true; } - const auto & object_pos = o.object.kinematics.initial_pose_with_covariance.pose.position; const bool has_object_near_goal = - autoware::universe_utils::calcDistance2d(goal_pose.position, object_pos) < + autoware::universe_utils::calcDistance2d(goal_pose.position, o.getPosition()) < parameters_->object_check_goal_distance; return has_object_near_goal; }(); @@ -1027,8 +1026,7 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine( const auto has_object_near_goal = std::any_of(data.target_objects.begin(), data.target_objects.end(), [&](const auto & o) { return autoware::universe_utils::calcDistance2d( - data_->route_handler->getGoalPose().position, - o.object.kinematics.initial_pose_with_covariance.pose.position) < + data_->route_handler->getGoalPose().position, o.getPosition()) < parameters_->object_check_goal_distance; }); if (has_object_near_goal) { @@ -1097,9 +1095,7 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine( if (utils::isAllowedGoalModification(data_->route_handler)) { const bool has_last_shift_near_goal = std::any_of(data.target_objects.begin(), data.target_objects.end(), [&](const auto & o) { - return autoware::universe_utils::calcDistance2d( - last_sl.end.position, - o.object.kinematics.initial_pose_with_covariance.pose.position) < + return autoware::universe_utils::calcDistance2d(last_sl.end.position, o.getPosition()) < parameters_->object_check_goal_distance; }); if (has_last_shift_near_goal) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 4272d0eaf9c5d..608dc209e4fce 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -293,8 +293,7 @@ bool isWithinCrosswalk( { using Point = boost::geometry::model::d2::point_xy; - const auto & p = object.object.kinematics.initial_pose_with_covariance.pose.position; - const Point p_object{p.x, p.y}; + const Point p_object{object.getPosition().x, object.getPosition().y}; // get conflicting crosswalk crosswalk constexpr int PEDESTRIAN_GRAPH_ID = 1; @@ -335,14 +334,16 @@ bool isWithinIntersection( route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(area_id.c_str())); return boost::geometry::within( - object_polygon, utils::toPolygon2d(lanelet::utils::to2D(polygon.basicPolygon()))); + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) + .basicPoint(), + lanelet::utils::to2D(polygon.basicPolygon())); } bool isOnEgoLane(const ObjectData & object, const std::shared_ptr & route_handler) { - const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position; if (boost::geometry::within( - lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pos)).basicPoint(), + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) + .basicPoint(), object.overhang_lanelet.polygon2d().basicPolygon())) { return true; } @@ -351,7 +352,8 @@ bool isOnEgoLane(const ObjectData & object, const std::shared_ptr lanelet::ConstLanelets prev_lanelet; if (route_handler->getPreviousLaneletsWithinRoute(object.overhang_lanelet, &prev_lanelet)) { if (boost::geometry::within( - lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pos)).basicPoint(), + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) + .basicPoint(), prev_lanelet.front().polygon2d().basicPolygon())) { return true; } @@ -361,10 +363,20 @@ bool isOnEgoLane(const ObjectData & object, const std::shared_ptr lanelet::ConstLanelet next_lanelet; if (route_handler->getNextLaneletWithinRoute(object.overhang_lanelet, &next_lanelet)) { if (boost::geometry::within( - lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pos)).basicPoint(), + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) + .basicPoint(), next_lanelet.polygon2d().basicPolygon())) { return true; } + } else { + for (const auto & lane : route_handler->getNextLanelets(object.overhang_lanelet)) { + if (boost::geometry::within( + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) + .basicPoint(), + lane.polygon2d().basicPolygon())) { + return true; + } + } } return false; @@ -372,20 +384,18 @@ bool isOnEgoLane(const ObjectData & object, const std::shared_ptr bool isParallelToEgoLane(const ObjectData & object, const double threshold) { - const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose; const auto closest_pose = - lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object_pose.position); - const auto yaw_deviation = std::abs(calcYawDeviation(closest_pose, object_pose)); + lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object.getPosition()); + const auto yaw_deviation = std::abs(calcYawDeviation(closest_pose, object.getPose())); return yaw_deviation < threshold || yaw_deviation > M_PI - threshold; } bool isMergingToEgoLane(const ObjectData & object) { - const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose; const auto closest_pose = - lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object_pose.position); - const auto yaw_deviation = calcYawDeviation(closest_pose, object_pose); + lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object.getPosition()); + const auto yaw_deviation = calcYawDeviation(closest_pose, object.getPose()); if (isOnRight(object)) { if (yaw_deviation < 0.0 && -1.0 * M_PI_2 < yaw_deviation) { @@ -422,9 +432,8 @@ bool isParkedVehicle( return false; } - const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position; const auto centerline_pos = - lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object_pos).position; + lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object.getPosition()).position; bool is_left_side_parked_vehicle = false; if (!isOnRight(object)) { @@ -442,7 +451,8 @@ bool isParkedVehicle( return same_direction_lane; } - return static_cast(opposite_lanes.front().invert()); + return static_cast( + route_handler->getMostRightLanelet(opposite_lanes.front()).invert()); }(); const auto center_to_left_boundary = distance2d( @@ -457,7 +467,7 @@ bool isParkedVehicle( if (sub_type == "road_shoulder") { // assuming it's parked vehicle if its CoG is within road shoulder lanelet. if (boost::geometry::within( - to2D(toLaneletPoint(object_pos)).basicPoint(), + to2D(toLaneletPoint(object.getPosition())).basicPoint(), most_left_lanelet.polygon2d().basicPolygon())) { return true; } @@ -468,7 +478,7 @@ bool isParkedVehicle( const auto arc_coordinates = toArcCoordinates( to2D(object.overhang_lanelet.centerline().basicLineString()), - to2D(toLaneletPoint(object_pos)).basicPoint()); + to2D(toLaneletPoint(object.getPosition())).basicPoint()); object.shiftable_ratio = arc_coordinates.distance / object_shiftable_distance; is_left_side_parked_vehicle = object.shiftable_ratio > parameters->object_check_shiftable_ratio; @@ -490,7 +500,8 @@ bool isParkedVehicle( return same_direction_lane; } - return static_cast(opposite_lanes.front().invert()); + return static_cast( + route_handler->getMostLeftLanelet(opposite_lanes.front()).invert()); }(); const auto center_to_right_boundary = distance2d( @@ -505,7 +516,7 @@ bool isParkedVehicle( if (sub_type == "road_shoulder") { // assuming it's parked vehicle if its CoG is within road shoulder lanelet. if (boost::geometry::within( - to2D(toLaneletPoint(object_pos)).basicPoint(), + to2D(toLaneletPoint(object.getPosition())).basicPoint(), most_right_lanelet.polygon2d().basicPolygon())) { return true; } @@ -516,7 +527,7 @@ bool isParkedVehicle( const auto arc_coordinates = toArcCoordinates( to2D(object.overhang_lanelet.centerline().basicLineString()), - to2D(toLaneletPoint(object_pos)).basicPoint()); + to2D(toLaneletPoint(object.getPosition())).basicPoint()); object.shiftable_ratio = -1.0 * arc_coordinates.distance / object_shiftable_distance; is_right_side_parked_vehicle = @@ -527,9 +538,8 @@ bool isParkedVehicle( return false; } - const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose; object.to_centerline = - lanelet::utils::getArcCoordinates(data.current_lanelets, object_pose).distance; + lanelet::utils::getArcCoordinates(data.current_lanelets, object.getPose()).distance; if (std::abs(object.to_centerline) < parameters->threshold_distance_object_is_on_center) { return false; } @@ -544,13 +554,13 @@ bool isCloseToStopFactor( { const auto & rh = planner_data->route_handler; const auto & ego_pose = planner_data->self_odometry->pose.pose; - const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose; // force avoidance for stopped vehicle bool is_close_to_stop_factor = false; // check traffic light - const auto to_traffic_light = getDistanceToNextTrafficLight(object_pose, data.extend_lanelets); + const auto to_traffic_light = + getDistanceToNextTrafficLight(object.getPose(), data.extend_lanelets); { is_close_to_stop_factor = to_traffic_light < parameters->object_ignore_section_traffic_light_in_front_distance; @@ -792,9 +802,8 @@ bool isSatisfiedWithNonVehicleCondition( } // Object is on center line -> ignore. - const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose; object.to_centerline = - lanelet::utils::getArcCoordinates(data.current_lanelets, object_pose).distance; + lanelet::utils::getArcCoordinates(data.current_lanelets, object.getPose()).distance; if (std::abs(object.to_centerline) < parameters->threshold_distance_object_is_on_center) { object.info = ObjectInfo::TOO_NEAR_TO_CENTERLINE; return false; @@ -844,9 +853,8 @@ bool isSatisfiedWithVehicleCondition( return false; } - const auto & current_pose = object.object.kinematics.initial_pose_with_covariance.pose; const auto is_moving_distance_longer_than_threshold = - calcDistance2d(object.init_pose, current_pose) > + calcDistance2d(object.init_pose, object.getPose()) > parameters->distance_threshold_for_ambiguous_vehicle; if (is_moving_distance_longer_than_threshold) { object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; @@ -944,9 +952,8 @@ double getRoadShoulderDistance( using autoware::universe_utils::Point2d; using lanelet::utils::to2D; - const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose; const auto object_closest_index = - autoware::motion_utils::findNearestIndex(data.reference_path.points, object_pose.position); + autoware::motion_utils::findNearestIndex(data.reference_path.points, object.getPosition()); const auto object_closest_pose = data.reference_path.points.at(object_closest_index).point.pose; const auto rh = planner_data->route_handler; @@ -957,7 +964,7 @@ double getRoadShoulderDistance( std::vector> intersects; for (const auto & p1 : object.overhang_points) { const auto centerline_pose = - lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object_pose.position); + lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object.getPosition()); const auto p_tmp = geometry_msgs::build().position(p1.second).orientation(centerline_pose.orientation); @@ -1326,8 +1333,7 @@ std::vector generateObstaclePolygonsForDrivableArea( object.avoid_margin.value() - object_parameter.envelope_buffer_margin - vehicle_width / 2.0; const auto obj_poly = autoware::universe_utils::expandPolygon(object.envelope_poly, diff_poly_buffer); - obstacles_for_drivable_area.push_back( - {object.object.kinematics.initial_pose_with_covariance.pose, obj_poly, !isOnRight(object)}); + obstacles_for_drivable_area.push_back({object.getPose(), obj_poly, !isOnRight(object)}); } return obstacles_for_drivable_area; } @@ -1495,7 +1501,7 @@ void fillObjectMovingTime( object_data.last_stop = now; object_data.move_time = 0.0; if (is_new_object) { - object_data.init_pose = object_data.object.kinematics.initial_pose_with_covariance.pose; + object_data.init_pose = object_data.getPose(); object_data.stop_time = 0.0; object_data.last_move = now; stopped_objects.push_back(object_data); @@ -1510,7 +1516,7 @@ void fillObjectMovingTime( } if (is_new_object) { - object_data.init_pose = object_data.object.kinematics.initial_pose_with_covariance.pose; + object_data.init_pose = object_data.getPose(); object_data.move_time = std::numeric_limits::infinity(); object_data.stop_time = 0.0; object_data.last_move = now; @@ -1520,7 +1526,7 @@ void fillObjectMovingTime( object_data.last_stop = same_id_obj->last_stop; object_data.move_time = (now - same_id_obj->last_stop).seconds(); object_data.stop_time = 0.0; - object_data.init_pose = object_data.object.kinematics.initial_pose_with_covariance.pose; + object_data.init_pose = object_data.getPose(); if (object_data.move_time > object_parameter.moving_time_threshold) { stopped_objects.erase(same_id_obj); @@ -1617,9 +1623,9 @@ void updateRegisteredObject( } constexpr auto POS_THR = 1.5; - const auto r_pos = registered_object.object.kinematics.initial_pose_with_covariance.pose; + const auto r_pos = registered_object.getPose(); const auto similar_pos_obj = std::find_if(n.begin(), n.end(), [&](const auto & o) { - return calcDistance2d(r_pos, o.object.kinematics.initial_pose_with_covariance.pose) < POS_THR; + return calcDistance2d(r_pos, o.getPose()) < POS_THR; }); // same id object is not detected, but object is found around registered. update registered. From 683c1b53ddadd9567cd61b180fe584005434adb7 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 4 Jul 2024 17:26:46 +0900 Subject: [PATCH 061/306] refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure (#7748) chore: update namespace and file structure Signed-off-by: Taekjin LEE --- .../ground_segmentation.launch.py | 2 +- .../CMakeLists.txt | 13 ++++++------- .../occupancy_grid_map_outlier_filter/package.xml | 9 --------- ...=> occupancy_grid_map_outlier_filter_node.cpp} | 15 ++++++++------- .../occupancy_grid_map_outlier_filter_node.hpp} | 12 ++++++------ 5 files changed, 21 insertions(+), 30 deletions(-) rename perception/occupancy_grid_map_outlier_filter/src/{occupancy_grid_map_outlier_filter_nodelet.cpp => occupancy_grid_map_outlier_filter_node.cpp} (97%) rename perception/occupancy_grid_map_outlier_filter/{include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp => src/occupancy_grid_map_outlier_filter_node.hpp} (91%) diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py index 684ecee757aad..ba0b058d8c00b 100644 --- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py +++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py @@ -332,7 +332,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic): components.append( ComposableNode( package="occupancy_grid_map_outlier_filter", - plugin="occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent", + plugin="autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent", name="occupancy_grid_based_outlier_filter", remappings=[ ("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"), diff --git a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt index 724e5a3354396..9754cea458577 100644 --- a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt +++ b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt @@ -8,7 +8,6 @@ find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED) find_package(PCL REQUIRED) -find_package(pcl_conversions REQUIRED) find_package(OpenMP) ament_auto_find_build_dependencies() @@ -22,26 +21,26 @@ include_directories( ${GRID_MAP_INCLUDE_DIR} ) -ament_auto_add_library(occupancy_grid_map_outlier_filter SHARED - src/occupancy_grid_map_outlier_filter_nodelet.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/occupancy_grid_map_outlier_filter_node.cpp ) -target_link_libraries(occupancy_grid_map_outlier_filter +target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} ) if(OPENMP_FOUND) - set_target_properties(occupancy_grid_map_outlier_filter PROPERTIES + set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS ${OpenMP_CXX_FLAGS} LINK_FLAGS ${OpenMP_CXX_FLAGS} ) endif() # -- Occupancy Grid Map Outlier Filter -- -rclcpp_components_register_node(occupancy_grid_map_outlier_filter - PLUGIN "occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent" EXECUTABLE occupancy_grid_map_outlier_filter_node) ament_auto_package(INSTALL_TO_SHARE) diff --git a/perception/occupancy_grid_map_outlier_filter/package.xml b/perception/occupancy_grid_map_outlier_filter/package.xml index 23d08db09553a..e92e5edb4b084 100644 --- a/perception/occupancy_grid_map_outlier_filter/package.xml +++ b/perception/occupancy_grid_map_outlier_filter/package.xml @@ -19,27 +19,18 @@ autoware_lanelet2_extension autoware_universe_utils - autoware_vehicle_msgs - diagnostic_updater - image_transport - libopencv-dev libpcl-all-dev message_filters nav_msgs pcl_conversions - pcl_msgs pcl_ros pointcloud_preprocessor rclcpp rclcpp_components sensor_msgs std_msgs - tf2 tf2_eigen - tf2_geometry_msgs tf2_ros - tier4_debug_msgs - tier4_pcl_extensions ament_lint_auto autoware_lint_common diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp similarity index 97% rename from perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp rename to perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp index f62a3f7e689fc..1536db8610b76 100644 --- a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp +++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp @@ -12,11 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp" +#include "occupancy_grid_map_outlier_filter_node.hpp" + +#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/ros/debug_publisher.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" -#include -#include -#include #include #include @@ -101,7 +102,7 @@ boost::optional getCost( } // namespace -namespace occupancy_grid_map_outlier_filter +namespace autoware::occupancy_grid_map_outlier_filter { RadiusSearch2dFilter::RadiusSearch2dFilter(rclcpp::Node & node) { @@ -489,8 +490,8 @@ void OccupancyGridMapOutlierFilterComponent::Debugger::transformToBaseLink( transformPointcloud(ros_input, *(node_.tf2_), node_.base_link_frame_, output); } -} // namespace occupancy_grid_map_outlier_filter +} // namespace autoware::occupancy_grid_map_outlier_filter #include RCLCPP_COMPONENTS_REGISTER_NODE( - occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent) + autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent) diff --git a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp similarity index 91% rename from perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp rename to perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp index ae6d7a34fca2a..e9402d6416cbd 100644 --- a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp +++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OCCUPANCY_GRID_MAP_OUTLIER_FILTER__OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODELET_HPP_ -#define OCCUPANCY_GRID_MAP_OUTLIER_FILTER__OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODELET_HPP_ +#ifndef OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_ +#define OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_ +#include "autoware/universe_utils/ros/published_time_publisher.hpp" #include "pointcloud_preprocessor/filter.hpp" -#include #include #include @@ -40,7 +40,7 @@ #include #include -namespace occupancy_grid_map_outlier_filter +namespace autoware::occupancy_grid_map_outlier_filter { using geometry_msgs::msg::Pose; using nav_msgs::msg::OccupancyGrid; @@ -129,6 +129,6 @@ class OccupancyGridMapOutlierFilterComponent : public rclcpp::Node std::string base_link_frame_; int cost_threshold_; }; -} // namespace occupancy_grid_map_outlier_filter +} // namespace autoware::occupancy_grid_map_outlier_filter -#endif // OCCUPANCY_GRID_MAP_OUTLIER_FILTER__OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODELET_HPP_ +#endif // OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_ From 64f471ccba57bb4b8c8013737c5636845af1bd5a Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 4 Jul 2024 17:54:36 +0900 Subject: [PATCH 062/306] chore(motion_velocity_planner): add new codeowners (#7757) Signed-off-by: Maxime CLEMENT --- .github/CODEOWNERS | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 1f25372c14d71..8f947ce2d2a13 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -192,10 +192,10 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_modu planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp alqudah.mohammad@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp alqudah.mohammad@tier4.jp planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp From a39ad525da6a0a7b552bd293fda73444d7cd83f2 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 4 Jul 2024 18:02:00 +0900 Subject: [PATCH 063/306] refactor(detected_object_feature_remover)!: fix namespace and directory structure (#7739) refactor: namespace fix, rename file names, move header to src refactor: update PLUGIN namespace in CMakeLists.txt Signed-off-by: Taekjin LEE --- .../CMakeLists.txt | 10 +++++----- .../detected_object_feature_remover.launch.xml | 2 +- ...=> detected_object_feature_remover_node.cpp} | 9 +++++---- .../detected_object_feature_remover_node.hpp} | 17 +++++++++-------- 4 files changed, 20 insertions(+), 18 deletions(-) rename perception/detected_object_feature_remover/src/{detected_object_feature_remover.cpp => detected_object_feature_remover_node.cpp} (86%) rename perception/detected_object_feature_remover/{include/detected_object_feature_remover/detected_object_feature_remover.hpp => src/detected_object_feature_remover_node.hpp} (71%) diff --git a/perception/detected_object_feature_remover/CMakeLists.txt b/perception/detected_object_feature_remover/CMakeLists.txt index b3dd3c35e19d5..e0ff35d75e64a 100644 --- a/perception/detected_object_feature_remover/CMakeLists.txt +++ b/perception/detected_object_feature_remover/CMakeLists.txt @@ -4,13 +4,13 @@ project(detected_object_feature_remover) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(detected_object_feature_remover_node SHARED - src/detected_object_feature_remover.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/detected_object_feature_remover_node.cpp ) -rclcpp_components_register_node(detected_object_feature_remover_node - PLUGIN "detected_object_feature_remover::DetectedObjectFeatureRemover" - EXECUTABLE detected_object_feature_remover +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::detected_object_feature_remover::DetectedObjectFeatureRemover" + EXECUTABLE detected_object_feature_remover_node ) ament_auto_package( diff --git a/perception/detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml b/perception/detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml index 2e7fa4605d656..d86d75ce297be 100644 --- a/perception/detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml +++ b/perception/detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp b/perception/detected_object_feature_remover/src/detected_object_feature_remover_node.cpp similarity index 86% rename from perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp rename to perception/detected_object_feature_remover/src/detected_object_feature_remover_node.cpp index 3fe9e6fde8683..47fe67de9d9aa 100644 --- a/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp +++ b/perception/detected_object_feature_remover/src/detected_object_feature_remover_node.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include "detected_object_feature_remover_node.hpp" -namespace detected_object_feature_remover +namespace autoware::detected_object_feature_remover { DetectedObjectFeatureRemover::DetectedObjectFeatureRemover(const rclcpp::NodeOptions & node_options) : Node("detected_object_feature_remover", node_options) @@ -45,7 +45,8 @@ void DetectedObjectFeatureRemover::convert( } } -} // namespace detected_object_feature_remover +} // namespace autoware::detected_object_feature_remover #include -RCLCPP_COMPONENTS_REGISTER_NODE(detected_object_feature_remover::DetectedObjectFeatureRemover) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::detected_object_feature_remover::DetectedObjectFeatureRemover) diff --git a/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp b/perception/detected_object_feature_remover/src/detected_object_feature_remover_node.hpp similarity index 71% rename from perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp rename to perception/detected_object_feature_remover/src/detected_object_feature_remover_node.hpp index 02e4c9c3ca29a..2877d38259f83 100644 --- a/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp +++ b/perception/detected_object_feature_remover/src/detected_object_feature_remover_node.hpp @@ -12,18 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_ -#define DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_ +#ifndef DETECTED_OBJECT_FEATURE_REMOVER_NODE_HPP_ +#define DETECTED_OBJECT_FEATURE_REMOVER_NODE_HPP_ + +#include "autoware/universe_utils/ros/published_time_publisher.hpp" -#include #include -#include -#include +#include "autoware_perception_msgs/msg/detected_objects.hpp" +#include "tier4_perception_msgs/msg/detected_objects_with_feature.hpp" #include -namespace detected_object_feature_remover +namespace autoware::detected_object_feature_remover { using autoware_perception_msgs::msg::DetectedObjects; using tier4_perception_msgs::msg::DetectedObjectsWithFeature; @@ -41,6 +42,6 @@ class DetectedObjectFeatureRemover : public rclcpp::Node void convert(const DetectedObjectsWithFeature & objs_with_feature, DetectedObjects & objs); }; -} // namespace detected_object_feature_remover +} // namespace autoware::detected_object_feature_remover -#endif // DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_ +#endif // DETECTED_OBJECT_FEATURE_REMOVER_NODE_HPP_ From 1145391ade9f0386c0803579a0c6ab7f968cbd6a Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 4 Jul 2024 18:02:21 +0900 Subject: [PATCH 064/306] fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (#7840) Signed-off-by: Maxime CLEMENT --- .../autoware_motion_velocity_planner_node/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index 5e6f9619e75c2..f0100f58074ba 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -325,7 +325,7 @@ void MotionVelocityPlannerNode::insert_slowdown( autoware::motion_utils::insertTargetPoint(to_seg_idx, slowdown_interval.to, trajectory.points); if (from_insert_idx && to_insert_idx) { for (auto idx = *from_insert_idx; idx <= *to_insert_idx; ++idx) - trajectory.points[idx].longitudinal_velocity_mps = 0.0; + trajectory.points[idx].longitudinal_velocity_mps = slowdown_interval.velocity; } else { RCLCPP_WARN(get_logger(), "Failed to insert slowdown point"); } From 76835977fd1514e435bb0164ac5305032c961439 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Thu, 4 Jul 2024 19:14:11 +0900 Subject: [PATCH 065/306] refactor(map_height_fitter): apply static analysis (#7837) * refactor based on linter Signed-off-by: a-maumau * style(pre-commit): autofix * Update map/map_height_fitter/src/map_height_fitter.cpp fix to used angle brackets for including Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Signed-off-by: a-maumau * style(pre-commit): autofix --------- Signed-off-by: a-maumau Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- .../map_height_fitter/map_height_fitter.hpp | 6 +++++- map/map_height_fitter/src/map_height_fitter.cpp | 14 +++++++------- 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp b/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp index 95ca3f3dfbea0..46baffa270108 100644 --- a/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp +++ b/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp @@ -31,8 +31,12 @@ using geometry_msgs::msg::Point; class MapHeightFitter final { public: - MapHeightFitter(rclcpp::Node * node); + explicit MapHeightFitter(rclcpp::Node * node); ~MapHeightFitter(); + MapHeightFitter(const MapHeightFitter &) = delete; + MapHeightFitter & operator=(const MapHeightFitter &) = delete; + MapHeightFitter(MapHeightFitter &&) = delete; + MapHeightFitter & operator=(MapHeightFitter &&) = delete; std::optional fit(const Point & position, const std::string & frame); private: diff --git a/map/map_height_fitter/src/map_height_fitter.cpp b/map/map_height_fitter/src/map_height_fitter.cpp index d6a20a636733d..c9e199ad88422 100644 --- a/map/map_height_fitter/src/map_height_fitter.cpp +++ b/map/map_height_fitter/src/map_height_fitter.cpp @@ -29,6 +29,8 @@ #include #include +#include + namespace map_height_fitter { @@ -107,7 +109,7 @@ MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), n void MapHeightFitter::Impl::on_pcd_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) { map_frame_ = msg->header.frame_id; - map_cloud_ = pcl::PointCloud::Ptr(new pcl::PointCloud); + map_cloud_ = std::make_shared>(); pcl::fromROSMsg(*msg, *map_cloud_); } @@ -125,8 +127,8 @@ bool MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point) } const auto req = std::make_shared(); - req->area.center_x = point.x; - req->area.center_y = point.y; + req->area.center_x = static_cast(point.x); + req->area.center_y = static_cast(point.y); req->area.radius = 50; RCLCPP_DEBUG(logger, "Send request to map_loader"); @@ -157,7 +159,7 @@ bool MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point) } } map_frame_ = res->header.frame_id; - map_cloud_ = pcl::PointCloud::Ptr(new pcl::PointCloud); + map_cloud_ = std::make_shared>(); pcl::fromROSMsg(pcd_msg, *map_cloud_); return true; } @@ -276,9 +278,7 @@ MapHeightFitter::MapHeightFitter(rclcpp::Node * node) impl_ = std::make_unique(node); } -MapHeightFitter::~MapHeightFitter() -{ -} +MapHeightFitter::~MapHeightFitter() = default; std::optional MapHeightFitter::fit(const Point & position, const std::string & frame) { From 391971fb4980086dbaee0ce4db1f110e80255bfc Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 4 Jul 2024 19:44:01 +0900 Subject: [PATCH 066/306] refactor(velocity_smoother): change method to take data for external velocity (#7810) refactor external velocity Signed-off-by: Go Sakayori --- planning/autoware_velocity_smoother/src/node.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/planning/autoware_velocity_smoother/src/node.cpp b/planning/autoware_velocity_smoother/src/node.cpp index 5c66f5b906bba..b881b68798cdc 100644 --- a/planning/autoware_velocity_smoother/src/node.cpp +++ b/planning/autoware_velocity_smoother/src/node.cpp @@ -422,7 +422,7 @@ void VelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr // receive data current_odometry_ptr_ = sub_current_odometry_.takeData(); current_acceleration_ptr_ = sub_current_acceleration_.takeData(); - external_velocity_limit_ptr_ = sub_external_velocity_limit_.takeData(); + external_velocity_limit_ptr_ = sub_external_velocity_limit_.takeNewData(); const auto operation_mode_ptr = sub_operation_mode_.takeData(); if (operation_mode_ptr) { operation_mode_ = *operation_mode_ptr; @@ -455,9 +455,6 @@ void VelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr calcExternalVelocityLimit(); updateDataForExternalVelocityLimit(); - // ignore current external velocity limit next time - external_velocity_limit_ptr_ = nullptr; - // For negative velocity handling, multiple -1 to velocity if it is for reverse. // NOTE: this process must be in the beginning of the process is_reverse_ = isReverse(input_points); From 2e6b570710ad062b86740cec2d78f1528e362151 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 4 Jul 2024 19:50:43 +0900 Subject: [PATCH 067/306] fix: adapi vehicle topic qos (#7847) Signed-off-by: Takagi, Isamu --- .../include/autoware_ad_api_specs/vehicle.hpp | 2 +- system/default_ad_api/src/utils/topics.hpp | 44 +++++++++++++++++++ system/default_ad_api/src/vehicle_door.cpp | 11 ++++- system/default_ad_api/src/vehicle_door.hpp | 4 ++ 4 files changed, 59 insertions(+), 2 deletions(-) create mode 100644 system/default_ad_api/src/utils/topics.hpp diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp index 4175a04aadadc..e1220bf2c5879 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp @@ -32,7 +32,7 @@ struct VehicleKinematics using Message = autoware_adapi_v1_msgs::msg::VehicleKinematics; static constexpr char name[] = "/api/vehicle/kinematics"; static constexpr size_t depth = 1; - static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT; static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; diff --git a/system/default_ad_api/src/utils/topics.hpp b/system/default_ad_api/src/utils/topics.hpp new file mode 100644 index 0000000000000..97d91b33c9fa3 --- /dev/null +++ b/system/default_ad_api/src/utils/topics.hpp @@ -0,0 +1,44 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS__TOPICS_HPP_ +#define UTILS__TOPICS_HPP_ + +#include +#include + +#include + +namespace default_ad_api::utils +{ + +template +MsgT ignore_stamp(MsgT msg) +{ + msg.stamp = rclcpp::Time(0, 0); + return msg; +}; + +template +void notify(PubT & pub, std::optional & prev, const MsgT & curr, FuncT && ignore) +{ + if (!prev || ignore(*prev) != ignore(curr)) { + prev = curr; + pub->publish(curr); + } +} + +} // namespace default_ad_api::utils + +#endif // UTILS__TOPICS_HPP_ diff --git a/system/default_ad_api/src/vehicle_door.cpp b/system/default_ad_api/src/vehicle_door.cpp index b94921c8fd41b..e37e91bdda8e2 100644 --- a/system/default_ad_api/src/vehicle_door.cpp +++ b/system/default_ad_api/src/vehicle_door.cpp @@ -14,6 +14,8 @@ #include "vehicle_door.hpp" +#include "utils/topics.hpp" + namespace default_ad_api { @@ -24,7 +26,14 @@ VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options) group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.relay_service(cli_command_, srv_command_, group_cli_, 3.0); adaptor.relay_service(cli_layout_, srv_layout_, group_cli_, 3.0); - adaptor.relay_message(pub_status_, sub_status_); + adaptor.init_pub(pub_status_); + adaptor.init_sub(sub_status_, this, &VehicleDoorNode::on_status); +} + +void VehicleDoorNode::on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg) +{ + utils::notify( + pub_status_, status_, *msg, utils::ignore_stamp); } } // namespace default_ad_api diff --git a/system/default_ad_api/src/vehicle_door.hpp b/system/default_ad_api/src/vehicle_door.hpp index 92e8918afcdf8..e83e0a164d3f6 100644 --- a/system/default_ad_api/src/vehicle_door.hpp +++ b/system/default_ad_api/src/vehicle_door.hpp @@ -19,6 +19,8 @@ #include #include +#include + // This file should be included after messages. #include "utils/types.hpp" @@ -31,6 +33,7 @@ class VehicleDoorNode : public rclcpp::Node explicit VehicleDoorNode(const rclcpp::NodeOptions & options); private: + void on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg); rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_command_; Srv srv_layout_; @@ -38,6 +41,7 @@ class VehicleDoorNode : public rclcpp::Node Cli cli_command_; Cli cli_layout_; Sub sub_status_; + std::optional status_; }; } // namespace default_ad_api From 1875a80e2f8f75bacf3b6cd6f49c407c3d19ded9 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 4 Jul 2024 20:55:01 +0900 Subject: [PATCH 068/306] refactor(static_avoidance): modify getAdjacentLane function (#7843) add getLeftOppositeLanelers in getAdjacentLane function Signed-off-by: Go Sakayori --- .../src/utils.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 608dc209e4fce..d454a97400e78 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -1993,6 +1993,17 @@ lanelet::ConstLanelets getAdjacentLane( lanes.push_back(opt_right_lane.value()); } + const auto left_opposite_lanes = rh->getLeftOppositeLanelets(lane); + if (!is_right_shift && !left_opposite_lanes.empty()) { + lanes.push_back(left_opposite_lanes.front()); + + for (const auto & prev_lane : rh->getPreviousLanelets(left_opposite_lanes.front())) { + if (!exist(prev_lane.id())) { + lanes.push_back(prev_lane); + } + } + } + const auto right_opposite_lanes = rh->getRightOppositeLanelets(lane); if (is_right_shift && !right_opposite_lanes.empty()) { lanes.push_back(right_opposite_lanes.front()); From da47c3ca2e1b4336e65e30766d898fb7ca73551d Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 23:01:15 +0900 Subject: [PATCH 069/306] fix(pointcloud_preprocessor): fix preprocessorErrorDirective (#7786) * fix(pointcloud_preprocessor): fix preprocessorErrorDirective Signed-off-by: Ryuta Kambe * fix postfixOperator Signed-off-by: Ryuta Kambe * remove unnecessary count() and contains() Signed-off-by: Ryuta Kambe * restore bitness macros Signed-off-by: veqcc * remove operator= Signed-off-by: veqcc * remove addOrFree function Signed-off-by: veqcc * add cppcheck suppression Signed-off-by: Ryuta Kambe * add cppcheck suppression Signed-off-by: Ryuta Kambe * add cppcheck suppression Signed-off-by: Ryuta Kambe * add cppcheck suppression Signed-off-by: Ryuta Kambe --------- Signed-off-by: Ryuta Kambe Signed-off-by: veqcc --- .../src/downsample_filter/robin_hood.h | 78 +++---------------- 1 file changed, 9 insertions(+), 69 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/robin_hood.h b/sensing/pointcloud_preprocessor/src/downsample_filter/robin_hood.h index 02fa183e5d017..edbc55c8158c0 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/robin_hood.h +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/robin_hood.h @@ -126,10 +126,8 @@ static Counts & counts() // bitness #if SIZE_MAX == UINT32_MAX #define ROBIN_HOOD_PRIVATE_DEFINITION_BITNESS() 32 -#elif SIZE_MAX == UINT64_MAX -#define ROBIN_HOOD_PRIVATE_DEFINITION_BITNESS() 64 #else -#error Unsupported bitness +#define ROBIN_HOOD_PRIVATE_DEFINITION_BITNESS() 64 #endif // endianess @@ -165,12 +163,13 @@ static Counts & counts() #endif #include #pragma intrinsic(ROBIN_HOOD(BITSCANFORWARD)) -#define ROBIN_HOOD_COUNT_TRAILING_ZEROES(x) \ - [](size_t mask) noexcept -> int { \ - unsigned long index; \ // NOLINT - return ROBIN_HOOD(BITSCANFORWARD)(&index, mask) ? static_cast(index) \ - : ROBIN_HOOD(BITNESS); \ - }(x) +#define ROBIN_HOOD_COUNT_TRAILING_ZEROES(x) \ + [](size_t mask) noexcept -> int { \ + unsigned long index; \ // NOLINT + return ROBIN_HOOD(BITSCANFORWARD)(&index, mask) \ // NOLINT + ? static_cast(index) \ // cppcheck-suppress syntaxError + : ROBIN_HOOD(BITNESS); \ // cppcheck-suppress syntaxError + }(x) // cppcheck-suppress syntaxError #else #if ROBIN_HOOD(BITNESS) == 32 #define ROBIN_HOOD_PRIVATE_DEFINITION_CTZ() __builtin_ctzl @@ -429,14 +428,6 @@ class BulkPoolAllocator return *this; } - BulkPoolAllocator & - // NOLINTNEXTLINE (bugprone-unhandled-self-assignment,cert-oop54-cpp) - operator=(const BulkPoolAllocator & ROBIN_HOOD_UNUSED(o) /*unused*/) noexcept - { - // does not do anything - return *this; - } - ~BulkPoolAllocator() noexcept { reset(); } // Deallocates all allocated memory. @@ -475,22 +466,6 @@ class BulkPoolAllocator mHead = obj; } - // Adds an already allocated block of memory to the allocator. This allocator is from now on - // responsible for freeing the data (with free()). If the provided data is not large enough to - // make use of, it is immediately freed. Otherwise it is reused and freed in the destructor. - void addOrFree(void * ptr, const size_t numBytes) noexcept - { - // calculate number of available elements in ptr - if (numBytes < ALIGNMENT + ALIGNED_SIZE) { - // not enough data for at least one element. Free and return. - ROBIN_HOOD_LOG("std::free") - std::free(ptr); - } else { - ROBIN_HOOD_LOG("add to buffer") - add(ptr, numBytes); - } - } - void swap(BulkPoolAllocator & other) noexcept { using std::swap; @@ -1382,7 +1357,7 @@ class Table Iter & operator++() noexcept { mInfo++; - mKeyVals++; + ++mKeyVals; fastForward(); return *this; } @@ -2035,41 +2010,6 @@ class Table return emplace(std::move(keyval)).first; } - // Returns 1 if key is found, 0 otherwise. - size_t count(const key_type & key) const - { // NOLINT (modernize-use-nodiscard) - ROBIN_HOOD_TRACE(this) - auto kv = mKeyVals + findIdx(key); - if (kv != reinterpret_cast_no_cast_align_warning(mInfo)) { - return 1; - } - return 0; - } - - template - // NOLINTNEXTLINE (modernize-use-nodiscard) - typename std::enable_if::type count(const OtherKey & key) const - { - ROBIN_HOOD_TRACE(this) - auto kv = mKeyVals + findIdx(key); - if (kv != reinterpret_cast_no_cast_align_warning(mInfo)) { - return 1; - } - return 0; - } - - bool contains(const key_type & key) const - { // NOLINT (modernize-use-nodiscard) - return 1U == count(key); - } - - template - // NOLINTNEXTLINE (modernize-use-nodiscard) - typename std::enable_if::type contains(const OtherKey & key) const - { - return 1U == count(key); - } - // Returns a reference to the value found for key. // Throws std::out_of_range if element cannot be found template From 90e8b6ef6f30483e17b55a7c4ce29cc39dbde46b Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 23:29:22 +0900 Subject: [PATCH 070/306] fix(probabilistic_occupancy_grid_map): fix noExplicitConstructor (#7811) Signed-off-by: Ryuta Kambe --- .../src/fusion/single_frame_fusion_policy.cpp | 2 +- .../occupancy_grid_map_projective.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp b/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp index 6ac681eff4916..7e2c3f7ba304a 100644 --- a/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp @@ -171,7 +171,7 @@ struct dempsterShaferOccupancy } // initialize with probability - dempsterShaferOccupancy(double occupied_probability) + explicit dempsterShaferOccupancy(double occupied_probability) { // confine to [0, 1] double p = std::max(0.0, std::min(1.0, occupied_probability)); diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp index 3846b3a7d16e7..03d7a42ae7043 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp @@ -75,7 +75,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( // Create angle bins and sort points by range struct BinInfo3D { - BinInfo3D( + explicit BinInfo3D( const double _range = 0.0, const double _wx = 0.0, const double _wy = 0.0, const double _wz = 0.0, const double _projection_length = 0.0, const double _projected_wx = 0.0, const double _projected_wy = 0.0) From 2f4fb42ee3a2028978d663e068605eb36b6bcb2c Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 4 Jul 2024 23:29:56 +0900 Subject: [PATCH 071/306] chore(ci): remove unnecessary cppcheck suppressions (#7848) chore(ci): remove unnecessary suppressions Signed-off-by: Ryuta Kambe --- .cppcheck_suppressions | 2 -- 1 file changed, 2 deletions(-) diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions index 74e4de15becf3..94ca14f8f47d6 100644 --- a/.cppcheck_suppressions +++ b/.cppcheck_suppressions @@ -14,9 +14,7 @@ missingInclude missingIncludeSystem noConstructor noExplicitConstructor -noValidConfiguration passedByValue -preprocessorErrorDirective redundantInitialization shadowFunction shadowVariable From 45fa063b6f06af28a1f8932416f5e90db9884bd8 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 5 Jul 2024 09:32:53 +0900 Subject: [PATCH 072/306] fix(imu_corrector): fix shadowFunction (#7839) Signed-off-by: Ryuta Kambe --- sensing/imu_corrector/src/gyro_bias_estimator.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.cpp b/sensing/imu_corrector/src/gyro_bias_estimator.cpp index 278d2dfc28e59..6882fbf068fd1 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimator.cpp +++ b/sensing/imu_corrector/src/gyro_bias_estimator.cpp @@ -51,11 +51,11 @@ GyroBiasEstimator::GyroBiasEstimator(const rclcpp::NodeOptions & options) [this](const Odometry::ConstSharedPtr msg) { callback_odom(msg); }); gyro_bias_pub_ = create_publisher("~/output/gyro_bias", rclcpp::SensorDataQoS()); - auto timer_callback = std::bind(&GyroBiasEstimator::timer_callback, this); + auto bound_timer_callback = std::bind(&GyroBiasEstimator::timer_callback, this); auto period_control = std::chrono::duration_cast( std::chrono::duration(timer_callback_interval_sec_)); - timer_ = std::make_shared>( - this->get_clock(), period_control, std::move(timer_callback), + timer_ = std::make_shared>( + this->get_clock(), period_control, std::move(bound_timer_callback), this->get_node_base_interface()->get_context()); this->get_node_timers_interface()->add_timer(timer_, nullptr); From 4a85f2334995c171cd46fef21f53aa4672479f4f Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 5 Jul 2024 09:38:38 +0900 Subject: [PATCH 073/306] fix(control_launch): fix control launch control_evaluator plugin name (#7846) fix control evaluator plugin name Signed-off-by: Daniel Sanchez --- launch/tier4_control_launch/launch/control.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index f23d9f74986e6..d8f3ef55b15dd 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -216,7 +216,7 @@ - + From 34bd969e09869bb7dbaec76961c4263132d3c71c Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 5 Jul 2024 10:16:14 +0900 Subject: [PATCH 074/306] fix(traffic_light_occlusion_predictor): fix cppcheck warnings (#7826) Signed-off-by: Ryuta Kambe --- perception/traffic_light_occlusion_predictor/src/nodelet.cpp | 2 +- .../src/occlusion_predictor.cpp | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp index 0202a26e46ef6..bc668c6af6c3c 100644 --- a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp +++ b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp @@ -129,10 +129,10 @@ void TrafficLightOcclusionPredictorNodelet::syncCallback( const uint8_t traffic_light_type) { std::vector occlusion_ratios; - size_t not_detected_roi = 0; if (in_cloud_msg == nullptr || in_cam_info_msg == nullptr || in_roi_msg == nullptr) { occlusion_ratios.resize(in_signal_msg->signals.size(), 0); } else { + size_t not_detected_roi = 0; tier4_perception_msgs::msg::TrafficLightRoiArray selected_roi_msg; selected_roi_msg.rois.reserve(in_roi_msg->rois.size()); for (size_t i = 0; i < in_roi_msg->rois.size(); ++i) { diff --git a/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp index 6515a515397da..40e50aabf3c17 100644 --- a/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp +++ b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp @@ -211,7 +211,9 @@ uint32_t CloudOcclusionPredictor::predict( { const uint32_t horizontal_sample_num = 20; const uint32_t vertical_sample_num = 20; - static_assert(horizontal_sample_num > 1 && vertical_sample_num > 1); + static_assert(horizontal_sample_num > 1); + static_assert(vertical_sample_num > 1); + const float min_dist_from_occlusion_to_tl = 5.0f; pcl::PointCloud tl_sample_cloud; From 73b6a120228b6370bfc9b2f82e9487dcd1726cad Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 5 Jul 2024 10:20:47 +0900 Subject: [PATCH 075/306] fix(autoware_planning_validator): fix knownConditionTrueFalse (#7817) Signed-off-by: Ryuta Kambe --- .../invalid_trajectory_publisher.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/planning/autoware_planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.cpp b/planning/autoware_planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.cpp index 645d6c92e3698..4b5c495cc85b6 100644 --- a/planning/autoware_planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.cpp +++ b/planning/autoware_planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.cpp @@ -59,11 +59,6 @@ void InvalidTrajectoryPublisherNode::onTimer() traj_pub_->publish(output); RCLCPP_INFO(this->get_logger(), "invalid trajectory is published."); - - bool EXIT_AFTER_PUBLISH = false; - if (EXIT_AFTER_PUBLISH) { - exit(0); - } } void InvalidTrajectoryPublisherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr msg) From c16edbe319d2739ec99adfbce5f4454d0bd464b8 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 5 Jul 2024 10:32:07 +0900 Subject: [PATCH 076/306] chore(ci): remove unnecessary cppcheck suppression (#7854) Signed-off-by: Ryuta Kambe --- .cppcheck_suppressions | 1 - 1 file changed, 1 deletion(-) diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions index 94ca14f8f47d6..1407a01c4054a 100644 --- a/.cppcheck_suppressions +++ b/.cppcheck_suppressions @@ -13,7 +13,6 @@ knownConditionTrueFalse missingInclude missingIncludeSystem noConstructor -noExplicitConstructor passedByValue redundantInitialization shadowFunction From 374703e6b356d9eaa9ffdb220a322e30f9afab83 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 5 Jul 2024 10:39:40 +0900 Subject: [PATCH 077/306] fix(tensorrt_yolox): fix knownConditionTrueFalse (#7823) * fix(tensorrt_yolox): fix knownConditionTrueFalse Signed-off-by: Ryuta Kambe * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../tensorrt_yolox/src/tensorrt_yolox.cpp | 74 ++++++------------- 1 file changed, 24 insertions(+), 50 deletions(-) diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp index 34155c3477003..94c795cfc2403 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp @@ -508,29 +508,16 @@ void TrtYoloX::preprocess(const std::vector & images) const float input_width = static_cast(input_dims.d[3]); std::vector dst_images; scales_.clear(); - bool letterbox = true; - if (letterbox) { - for (const auto & image : images) { - cv::Mat dst_image; - const float scale = std::min(input_width / image.cols, input_height / image.rows); - scales_.emplace_back(scale); - const auto scale_size = cv::Size(image.cols * scale, image.rows * scale); - cv::resize(image, dst_image, scale_size, 0, 0, cv::INTER_CUBIC); - const auto bottom = input_height - dst_image.rows; - const auto right = input_width - dst_image.cols; - copyMakeBorder( - dst_image, dst_image, 0, bottom, 0, right, cv::BORDER_CONSTANT, {114, 114, 114}); - dst_images.emplace_back(dst_image); - } - } else { - for (const auto & image : images) { - cv::Mat dst_image; - const float scale = -1.0; - scales_.emplace_back(scale); - const auto scale_size = cv::Size(input_width, input_height); - cv::resize(image, dst_image, scale_size, 0, 0, cv::INTER_CUBIC); - dst_images.emplace_back(dst_image); - } + for (const auto & image : images) { + cv::Mat dst_image; + const float scale = std::min(input_width / image.cols, input_height / image.rows); + scales_.emplace_back(scale); + const auto scale_size = cv::Size(image.cols * scale, image.rows * scale); + cv::resize(image, dst_image, scale_size, 0, 0, cv::INTER_CUBIC); + const auto bottom = input_height - dst_image.rows; + const auto right = input_width - dst_image.cols; + copyMakeBorder(dst_image, dst_image, 0, bottom, 0, right, cv::BORDER_CONSTANT, {114, 114, 114}); + dst_images.emplace_back(dst_image); } const auto chw_images = cv::dnn::blobFromImages( dst_images, norm_factor_, cv::Size(), cv::Scalar(), false, false, CV_32F); @@ -650,34 +637,21 @@ void TrtYoloX::preprocessWithRoi( const float input_width = static_cast(input_dims.d[3]); std::vector dst_images; scales_.clear(); - bool letterbox = true; int b = 0; - if (letterbox) { - for (const auto & image : images) { - cv::Mat dst_image; - cv::Mat cropped = image(rois[b]); - const float scale = std::min( - input_width / static_cast(rois[b].width), - input_height / static_cast(rois[b].height)); - scales_.emplace_back(scale); - const auto scale_size = cv::Size(rois[b].width * scale, rois[b].height * scale); - cv::resize(cropped, dst_image, scale_size, 0, 0, cv::INTER_CUBIC); - const auto bottom = input_height - dst_image.rows; - const auto right = input_width - dst_image.cols; - copyMakeBorder( - dst_image, dst_image, 0, bottom, 0, right, cv::BORDER_CONSTANT, {114, 114, 114}); - dst_images.emplace_back(dst_image); - b++; - } - } else { - for (const auto & image : images) { - cv::Mat dst_image; - const float scale = -1.0; - scales_.emplace_back(scale); - const auto scale_size = cv::Size(input_width, input_height); - cv::resize(image, dst_image, scale_size, 0, 0, cv::INTER_CUBIC); - dst_images.emplace_back(dst_image); - } + for (const auto & image : images) { + cv::Mat dst_image; + cv::Mat cropped = image(rois[b]); + const float scale = std::min( + input_width / static_cast(rois[b].width), + input_height / static_cast(rois[b].height)); + scales_.emplace_back(scale); + const auto scale_size = cv::Size(rois[b].width * scale, rois[b].height * scale); + cv::resize(cropped, dst_image, scale_size, 0, 0, cv::INTER_CUBIC); + const auto bottom = input_height - dst_image.rows; + const auto right = input_width - dst_image.cols; + copyMakeBorder(dst_image, dst_image, 0, bottom, 0, right, cv::BORDER_CONSTANT, {114, 114, 114}); + dst_images.emplace_back(dst_image); + b++; } const auto chw_images = cv::dnn::blobFromImages( dst_images, norm_factor_, cv::Size(), cv::Scalar(), false, false, CV_32F); From 9d58d5d0473bb842e2361ce4938deda55af55bda Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 5 Jul 2024 11:37:50 +0900 Subject: [PATCH 078/306] refactor(lane_change): move struct to lane change namespace (#7841) * move struct to lane change namespace Signed-off-by: Muhammad Zulfaqar Azmi * Revert "move struct to lane change namespace" This reverts commit 306984a76103c427732f170a6f7eb5f94e895b0b. Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi --- .../utils/base_class.hpp | 19 +++- .../utils/data_structs.hpp | 102 ++++++++++++++---- .../utils/path.hpp | 4 +- 3 files changed, 99 insertions(+), 26 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index e8e83a0703a76..9df19c4de6834 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -50,7 +50,10 @@ class LaneChangeBase LaneChangeBase( std::shared_ptr parameters, LaneChangeModuleType type, Direction direction) - : lane_change_parameters_{std::move(parameters)}, direction_{direction}, type_{type} + : lane_change_parameters_{std::move(parameters)}, + common_data_ptr_{std::make_shared()}, + direction_{direction}, + type_{type} { } @@ -151,7 +154,18 @@ class LaneChangeBase bool isValidPath() const { return status_.is_valid_path; } - void setData(const std::shared_ptr & data) { planner_data_ = data; } + void setData(const std::shared_ptr & data) + { + planner_data_ = data; + if (!common_data_ptr_->bpp_param_ptr) { + common_data_ptr_->bpp_param_ptr = + std::make_shared(data->parameters); + } + common_data_ptr_->self_odometry_ptr = data->self_odometry; + common_data_ptr_->route_handler_ptr = data->route_handler; + common_data_ptr_->lc_param_ptr = lane_change_parameters_; + common_data_ptr_->direction = direction_; + } void toNormalState() { current_lane_change_state_ = LaneChangeStates::Normal; } @@ -219,6 +233,7 @@ class LaneChangeBase std::shared_ptr lane_change_parameters_{}; std::shared_ptr abort_path_{}; std::shared_ptr planner_data_{}; + lane_change::CommonDataPtr common_data_ptr_{}; BehaviorModuleOutput prev_module_output_{}; std::optional lane_change_stop_pose_{std::nullopt}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index ffd2754acc38f..2fdf7c6b550a3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -17,16 +17,28 @@ #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" +#include +#include #include +#include + #include #include +#include #include #include -namespace autoware::behavior_path_planner +namespace autoware::behavior_path_planner::lane_change { +using geometry_msgs::msg::Pose; +using geometry_msgs::msg::Twist; +using nav_msgs::msg::Odometry; +using route_handler::Direction; +using route_handler::RouteHandler; +using utils::path_safety_checker::ExtendedPredictedObjects; + struct LateralAccelerationMap { std::vector base_vel; @@ -68,7 +80,7 @@ struct LateralAccelerationMap } }; -struct LaneChangeCancelParameters +struct CancelParameters { bool enable_on_prepare_phase{true}; bool enable_on_lane_changing_phase{false}; @@ -83,7 +95,7 @@ struct LaneChangeCancelParameters int unsafe_hysteresis_threshold{2}; }; -struct LaneChangeParameters +struct Parameters { // trajectory generation double backward_lane_length{200.0}; @@ -92,8 +104,8 @@ struct LaneChangeParameters int lateral_acc_sampling_num{10}; // lane change parameters - double backward_length_buffer_for_end_of_lane; - double backward_length_buffer_for_blocking_object; + double backward_length_buffer_for_end_of_lane{0.0}; + double backward_length_buffer_for_blocking_object{0.0}; double lane_changing_lateral_jerk{0.5}; double minimum_lane_changing_velocity{5.6}; double lane_change_prepare_duration{4.0}; @@ -143,7 +155,7 @@ struct LaneChangeParameters utils::path_safety_checker::RSSparams rss_params_for_stuck{}; // abort - LaneChangeCancelParameters cancel{}; + CancelParameters cancel{}; double finish_judge_lateral_threshold{0.2}; @@ -151,32 +163,32 @@ struct LaneChangeParameters bool publish_debug_marker{false}; }; -enum class LaneChangeStates { +enum class States { Normal = 0, Cancel, Abort, Stop, }; -struct LaneChangePhaseInfo +struct PhaseInfo { double prepare{0.0}; double lane_changing{0.0}; [[nodiscard]] double sum() const { return prepare + lane_changing; } - LaneChangePhaseInfo(const double _prepare, const double _lane_changing) + PhaseInfo(const double _prepare, const double _lane_changing) : prepare(_prepare), lane_changing(_lane_changing) { } }; -struct LaneChangeInfo +struct Info { - LaneChangePhaseInfo longitudinal_acceleration{0.0, 0.0}; - LaneChangePhaseInfo velocity{0.0, 0.0}; - LaneChangePhaseInfo duration{0.0, 0.0}; - LaneChangePhaseInfo length{0.0, 0.0}; + PhaseInfo longitudinal_acceleration{0.0, 0.0}; + PhaseInfo velocity{0.0, 0.0}; + PhaseInfo duration{0.0, 0.0}; + PhaseInfo length{0.0, 0.0}; lanelet::ConstLanelets current_lanes{}; lanelet::ConstLanelets target_lanes{}; @@ -190,22 +202,19 @@ struct LaneChangeInfo double terminal_lane_changing_velocity{0.0}; }; -struct LaneChangeLanesFilteredObjects +struct LanesObjects { - utils::path_safety_checker::ExtendedPredictedObjects current_lane{}; - utils::path_safety_checker::ExtendedPredictedObjects target_lane{}; - utils::path_safety_checker::ExtendedPredictedObjects other_lane{}; + ExtendedPredictedObjects current_lane{}; + ExtendedPredictedObjects target_lane{}; + ExtendedPredictedObjects other_lane{}; }; -enum class LaneChangeModuleType { +enum class ModuleType { NORMAL = 0, EXTERNAL_REQUEST, AVOIDANCE_BY_LANE_CHANGE, }; -} // namespace autoware::behavior_path_planner -namespace autoware::behavior_path_planner::lane_change -{ struct PathSafetyStatus { bool is_safe{true}; @@ -218,6 +227,55 @@ struct LanesPolygon std::optional target; std::vector target_backward; }; + +struct Lanes +{ + lanelet::ConstLanelets current; + lanelet::ConstLanelets target; + std::vector preceding_target; +}; + +struct CommonData +{ + std::shared_ptr route_handler_ptr; + Odometry::ConstSharedPtr self_odometry_ptr; + std::shared_ptr bpp_param_ptr; + std::shared_ptr lc_param_ptr; + Lanes lanes; + Direction direction; + + [[nodiscard]] Pose get_ego_pose() const { return self_odometry_ptr->pose.pose; } + + [[nodiscard]] Twist get_ego_twist() const { return self_odometry_ptr->twist.twist; } + + [[nodiscard]] double get_ego_speed(bool use_norm = false) const + { + if (!use_norm) { + return get_ego_twist().linear.x; + } + + const auto x = get_ego_twist().linear.x; + const auto y = get_ego_twist().linear.y; + return std::hypot(x, y); + } +}; + +using RouteHandlerPtr = std::shared_ptr; +using BppParamPtr = std::shared_ptr; +using LCParamPtr = std::shared_ptr; +using CommonDataPtr = std::shared_ptr; +using LanesPtr = std::shared_ptr; } // namespace autoware::behavior_path_planner::lane_change +namespace autoware::behavior_path_planner +{ +using LaneChangeModuleType = lane_change::ModuleType; +using LaneChangeParameters = lane_change::Parameters; +using LaneChangeStates = lane_change::States; +using LaneChangePhaseInfo = lane_change::PhaseInfo; +using LaneChangeInfo = lane_change::Info; +using LaneChangeLanesFilteredObjects = lane_change::LanesObjects; +using LateralAccelerationMap = lane_change::LateralAccelerationMap; +} // namespace autoware::behavior_path_planner + #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp index 77c603e3bd975..97b5c621deea5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp @@ -31,8 +31,8 @@ struct LaneChangePath { PathWithLaneId path{}; ShiftedPath shifted_path{}; - PathWithLaneId prev_path{}; - LaneChangeInfo info{}; + LaneChangeInfo info; + bool is_safe{false}; }; using LaneChangePaths = std::vector; From 45f0769b75fae27d48044dd0e5669a259180278a Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 5 Jul 2024 12:10:51 +0900 Subject: [PATCH 079/306] fix(image_projection_based_fusion): segmentation pointcloud fusion param update (#7858) --- .../segmentation_pointcloud_fusion.param.yaml | 53 +++---- .../docs/segmentation-pointcloud-fusion.md | 4 +- .../segmentation_pointcloud_fusion/node.hpp | 9 +- ...segmentation_pointcloud_fusion.schema.json | 134 ++++++++++++++++++ .../segmentation_pointcloud_fusion/node.cpp | 13 +- 5 files changed, 171 insertions(+), 42 deletions(-) create mode 100644 perception/image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json diff --git a/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml b/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml index 2120a909cd672..fdabb0c7055d8 100644 --- a/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml +++ b/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml @@ -1,39 +1,24 @@ /**: ros__parameters: # if the semantic label is applied for pointcloud filtering + filter_semantic_label_target: - [ - true, # road - true, # sidewalk - true, # building - true, # wall - true, # fence - true, # pole - true, # traffic_light - true, # traffic_sign - true, # vegetation - true, # terrain - true, # sky - false, # person - false, # ride - false, # car - false, # truck - false, # bus - false, # train - false, # motorcycle - false, # bicycle - false, # others - ] - # the maximum distance of pointcloud to be applied filter, - # this is selected based on semantic segmentation model accuracy, - # calibration accuracy and unknown reaction distance - filter_distance_threshold: 60.0 + UNKNOWN: false + BUILDING: true + WALL: true + OBSTACLE: false + TRAFFIC_LIGHT: false + TRAFFIC_SIGN: false + PERSON: false + VEHICLE: false + BIKE: false + ROAD: true + SIDEWALK: false + ROAD_PAINT: false + CURBSTONE: false + CROSSWALK: false + VEGETATION: true + SKY: false - # debug - debug_mode: false - filter_scope_min_x: -100.0 - filter_scope_max_x: 100.0 - filter_scope_min_y: -100.0 - filter_scope_max_y: 100.0 - filter_scope_min_z: -100.0 - filter_scope_max_z: 100.0 + # the maximum distance of pointcloud to be applied filter + filter_distance_threshold: 60.0 diff --git a/perception/image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md b/perception/image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md index d59e804f1228c..3c469ac15c6e7 100644 --- a/perception/image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md +++ b/perception/image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md @@ -32,9 +32,7 @@ The node `segmentation_pointcloud_fusion` is a package for filtering pointcloud ### Core Parameters -| Name | Type | Description | -| ------------- | ---- | ------------------------ | -| `rois_number` | int | the number of input rois | +{{ json_to_markdown("perception/image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json") }} ## Assumptions / Known limits diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp index 26bcfd5ed802a..89b33775f7898 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp @@ -20,6 +20,7 @@ #include #include +#include #include #if __has_include() @@ -36,7 +37,13 @@ class SegmentPointCloudFusionNode : public FusionNode::SharedPtr pub_pointcloud_ptr_; std::vector filter_semantic_label_target_; float filter_distance_threshold_; - /* data */ + // declare list of semantic label target, depend on trained data of yolox segmentation model + std::vector> filter_semantic_label_target_list_ = { + {"UNKNOWN", false}, {"BUILDING", false}, {"WALL", false}, {"OBSTACLE", false}, + {"TRAFFIC_LIGHT", false}, {"TRAFFIC_SIGN", false}, {"PERSON", false}, {"VEHICLE", false}, + {"BIKE", false}, {"ROAD", false}, {"SIDEWALK", false}, {"ROAD_PAINT", false}, + {"CURBSTONE", false}, {"CROSSWALK", false}, {"VEGETATION", false}, {"SKY", false}}; + public: explicit SegmentPointCloudFusionNode(const rclcpp::NodeOptions & options); diff --git a/perception/image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json b/perception/image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json new file mode 100644 index 0000000000000..f5ab1be5eac34 --- /dev/null +++ b/perception/image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json @@ -0,0 +1,134 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Segmentation Pointcloud Fusion Node", + "type": "object", + "definitions": { + "segmentation_pointcloud_fusion": { + "type": "object", + "properties": { + "filter_semantic_label_target": { + "type": "object", + "properties": { + "UNKNOWN": { + "type": "boolean", + "description": "If true, UNKNOWN class of semantic will be filtered.", + "default": false + }, + "BUILDING": { + "type": "boolean", + "description": "If true, BUILDING class of semantic will be filtered.", + "default": true + }, + "WALL": { + "type": "boolean", + "description": "If true, WALL class of semantic will be filtered.", + "default": true + }, + "OBSTACLE": { + "type": "boolean", + "description": "If true, OBSTACLE class of semantic will be filtered.", + "default": false + }, + "TRAFFIC_LIGHT": { + "type": "boolean", + "description": "If true, TRAFFIC_LIGHT class of semantic will be filtered.", + "default": false + }, + "TRAFFIC_SIGN": { + "type": "boolean", + "description": "If true, TRAFFIC_SIGN class of semantic will be filtered.", + "default": false + }, + "PERSON": { + "type": "boolean", + "description": "If true, PERSON class of semantic will be filtered.", + "default": false + }, + "VEHICLE": { + "type": "boolean", + "description": "If true, VEHICLE class of semantic will be filtered.", + "default": false + }, + "BIKE": { + "type": "boolean", + "description": "If true, BIKE class of semantic will be filtered.", + "default": false + }, + "ROAD": { + "type": "boolean", + "description": "If true, ROAD class of semantic will be filtered.", + "default": true + }, + "SIDEWALK": { + "type": "boolean", + "description": "If true, SIDEWALK class of semantic will be filtered.", + "default": false + }, + "ROAD_PAINT": { + "type": "boolean", + "description": "If true, ROAD_PAINT class of semantic will be filtered.", + "default": false + }, + "CURBSTONE": { + "type": "boolean", + "description": "If true, CURBSTONE class of semantic will be filtered.", + "default": false + }, + "CROSSWALK": { + "type": "boolean", + "description": "If true, CROSSWALK class of semantic will be filtered.", + "default": false + }, + "VEGETATION": { + "type": "boolean", + "description": "If true, VEGETATION class of semantic will be filtered.", + "default": true + }, + "SKY": { + "type": "boolean", + "description": "If true, SKY class of semantic will be filtered.", + "default": false + } + }, + "required": [ + "UNKNOWN", + "BUILDING", + "WALL", + "OBSTACLE", + "TRAFFIC_LIGHT", + "TRAFFIC_SIGN", + "PERSON", + "VEHICLE", + "BIKE", + "ROAD", + "SIDEWALK", + "ROAD_PAINT", + "CURBSTONE", + "CROSSWALK", + "VEGETATION", + "SKY" + ] + }, + "filter_distance_threshold": { + "type": "number", + "description": "A maximum distance of pointcloud to apply filter [m].", + "default": 60.0, + "minimum": 0.0 + } + }, + "required": ["filter_semantic_label_target", "filter_distance_threshold"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/segmentation_pointcloud_fusion" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp b/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp index a3117125a46b1..9a983252af436 100644 --- a/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp @@ -31,8 +31,13 @@ SegmentPointCloudFusionNode::SegmentPointCloudFusionNode(const rclcpp::NodeOptio : FusionNode("segmentation_pointcloud_fusion", options) { filter_distance_threshold_ = declare_parameter("filter_distance_threshold"); - filter_semantic_label_target_ = - declare_parameter>("filter_semantic_label_target"); + for (auto & item : filter_semantic_label_target_list_) { + item.second = declare_parameter("filter_semantic_label_target." + item.first); + } + for (const auto & item : filter_semantic_label_target_list_) { + RCLCPP_INFO( + this->get_logger(), "filter_semantic_label_target: %s %d", item.first.c_str(), item.second); + } } void SegmentPointCloudFusionNode::preprocess(__attribute__((unused)) PointCloud2 & pointcloud_msg) @@ -129,12 +134,12 @@ void SegmentPointCloudFusionNode::fuseOnSingleImage( // skip filtering pointcloud where semantic id out of the defined list uint8_t semantic_id = mask.at( static_cast(projected_point.y()), static_cast(projected_point.x())); - if (static_cast(semantic_id) >= filter_semantic_label_target_.size()) { + if (static_cast(semantic_id) >= filter_semantic_label_target_list_.size()) { copyPointCloud( input_pointcloud_msg, point_step, global_offset, output_cloud, output_pointcloud_size); continue; } - if (!filter_semantic_label_target_.at(semantic_id)) { + if (!filter_semantic_label_target_list_.at(semantic_id).second) { copyPointCloud( input_pointcloud_msg, point_step, global_offset, output_cloud, output_pointcloud_size); } From cee3e168676a549b52c2082d3e4082957de55800 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 5 Jul 2024 12:49:24 +0900 Subject: [PATCH 080/306] fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge (#7850) * fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge Signed-off-by: satoshi-ota * docs(static_obstacle_avoidance): update flowchart Signed-off-by: satoshi-ota * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md Co-authored-by: Go Sakayori --------- Signed-off-by: satoshi-ota Co-authored-by: Go Sakayori --- .../README.md | 21 ++++++++++ .../src/utils.cpp | 41 +++++++++++++++++++ 2 files changed, 62 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md index 40d36898b2309..8e20cf2c9f660 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md @@ -659,6 +659,27 @@ if(isWithinCrosswalk()) then (yes) stop else (\n no) endif + +if(is object within intersection?) then (yes) +#00FFB1 :return false; +stop +else (\n no) +endif + +if(is object on right side of the ego path?) then (yes) +if(are there adjacent lanes on right side of ego lane?) then (yes) +#00FFB1 :return false; +stop +else (\n no) +endif +else (\n no) +if(are there adjacent lanes on left side of ego lane?) then (yes) +#00FFB1 :return false; +stop +else (\n no) +endif +endif + #FF006C :return true; stop } diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index d454a97400e78..30d1aad16374b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -809,6 +809,45 @@ bool isSatisfiedWithNonVehicleCondition( return false; } + if (object.is_within_intersection) { + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), + "object is within intersection. don't have to avoid it."); + return false; + } + + const auto right_lane = + planner_data->route_handler->getRightLanelet(object.overhang_lanelet, true, true); + if (right_lane.has_value() && isOnRight(object)) { + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), "object isn't on the edge lane. never avoid it."); + return false; + } + + const auto left_lane = + planner_data->route_handler->getLeftLanelet(object.overhang_lanelet, true, true); + if (left_lane.has_value() && !isOnRight(object)) { + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), "object isn't on the edge lane. never avoid it."); + return false; + } + + const auto right_opposite_lanes = + planner_data->route_handler->getRightOppositeLanelets(object.overhang_lanelet); + if (!right_opposite_lanes.empty() && isOnRight(object)) { + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), "object isn't on the edge lane. never avoid it."); + return false; + } + + const auto left_opposite_lanes = + planner_data->route_handler->getLeftOppositeLanelets(object.overhang_lanelet); + if (!left_opposite_lanes.empty() && !isOnRight(object)) { + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), "object isn't on the edge lane. never avoid it."); + return false; + } + return true; } @@ -1840,6 +1879,8 @@ void filterTargetObjects( continue; } } else { + o.is_within_intersection = + filtering_utils::isWithinIntersection(o, planner_data->route_handler); o.is_parked = false; o.avoid_margin = filtering_utils::getAvoidMargin(o, planner_data, parameters); From 765a656b727ab5be0b29bb2cd1912201ec7875e8 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 5 Jul 2024 13:13:57 +0900 Subject: [PATCH 081/306] feat(planning_evaluator): add planning evaluator polling sub (#7827) * WIP add polling subs Signed-off-by: Daniel Sanchez * WIP Signed-off-by: Daniel Sanchez * update functions Signed-off-by: Daniel Sanchez * remove semicolon Signed-off-by: Daniel Sanchez * use last data for modified goal Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../planning_evaluator_node.hpp | 46 ++++-- .../src/planning_evaluator_node.cpp | 146 +++++++++--------- 2 files changed, 106 insertions(+), 86 deletions(-) diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index 74523398c3a77..91dc0386ae6c6 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -70,7 +70,8 @@ class PlanningEvaluatorNode : public rclcpp::Node * @brief callback on receiving a trajectory * @param [in] traj_msg received trajectory message */ - void onTrajectory(const Trajectory::ConstSharedPtr traj_msg); + void onTrajectory( + const Trajectory::ConstSharedPtr traj_msg, const Odometry::ConstSharedPtr ego_state_ptr); /** * @brief callback on receiving a reference trajectory @@ -88,7 +89,9 @@ class PlanningEvaluatorNode : public rclcpp::Node * @brief callback on receiving a modified goal * @param [in] modified_goal_msg received modified goal message */ - void onModifiedGoal(const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg); + void onModifiedGoal( + const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg, + const Odometry::ConstSharedPtr ego_state_ptr); /** * @brief publish the given metric statistic @@ -99,26 +102,43 @@ class PlanningEvaluatorNode : public rclcpp::Node /** * @brief publish current ego lane info */ - DiagnosticStatus generateLaneletDiagnosticStatus(); + DiagnosticStatus generateLaneletDiagnosticStatus(const Odometry::ConstSharedPtr ego_state_ptr); /** * @brief publish current ego kinematic state */ DiagnosticStatus generateKinematicStateDiagnosticStatus( - const AccelWithCovarianceStamped & accel_stamped); + const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr); private: static bool isFinite(const TrajectoryPoint & p); - void publishModifiedGoalDeviationMetrics(); - // update Route Handler + + /** + * @brief update route handler data + */ void getRouteData(); + /** + * @brief fetch data and publish diagnostics + */ + void onTimer(); + + /** + * @brief fetch topic data + */ + void fetchData(); + // ROS - rclcpp::Subscription::SharedPtr traj_sub_; - rclcpp::Subscription::SharedPtr ref_sub_; - rclcpp::Subscription::SharedPtr objects_sub_; - rclcpp::Subscription::SharedPtr modified_goal_sub_; - rclcpp::Subscription::SharedPtr odom_sub_; + autoware::universe_utils::InterProcessPollingSubscriber traj_sub_{ + this, "~/input/trajectory"}; + autoware::universe_utils::InterProcessPollingSubscriber ref_sub_{ + this, "~/input/reference_trajectory"}; + autoware::universe_utils::InterProcessPollingSubscriber objects_sub_{ + this, "~/input/objects"}; + autoware::universe_utils::InterProcessPollingSubscriber modified_goal_sub_{ + this, "~/input/modified_goal"}; + autoware::universe_utils::InterProcessPollingSubscriber odometry_sub_{ + this, "~/input/odometry"}; autoware::universe_utils::InterProcessPollingSubscriber route_subscriber_{ this, "~/input/route", rclcpp::QoS{1}.transient_local()}; autoware::universe_utils::InterProcessPollingSubscriber vector_map_subscriber_{ @@ -131,6 +151,7 @@ class PlanningEvaluatorNode : public rclcpp::Node std::unique_ptr tf_buffer_; autoware::route_handler::RouteHandler route_handler_; + DiagnosticArray metrics_msg_; // Parameters std::string output_file_str_; std::string ego_frame_str_; @@ -142,8 +163,7 @@ class PlanningEvaluatorNode : public rclcpp::Node std::deque stamps_; std::array>, static_cast(Metric::SIZE)> metric_stats_; - Odometry::ConstSharedPtr ego_state_ptr_; - PoseWithUuidStamped::ConstSharedPtr modified_goal_ptr_; + rclcpp::TimerBase::SharedPtr timer_; std::optional prev_acc_stamped_{std::nullopt}; }; } // namespace planning_diagnostics diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index 5e959aed123af..9b65dbbc0b89e 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -35,26 +35,13 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op : Node("planning_evaluator", node_options) { using std::placeholders::_1; - - traj_sub_ = create_subscription( - "~/input/trajectory", 1, std::bind(&PlanningEvaluatorNode::onTrajectory, this, _1)); - - ref_sub_ = create_subscription( - "~/input/reference_trajectory", 1, - std::bind(&PlanningEvaluatorNode::onReferenceTrajectory, this, _1)); - - objects_sub_ = create_subscription( - "~/input/objects", 1, std::bind(&PlanningEvaluatorNode::onObjects, this, _1)); - - modified_goal_sub_ = create_subscription( - "~/input/modified_goal", 1, std::bind(&PlanningEvaluatorNode::onModifiedGoal, this, _1)); - - odom_sub_ = create_subscription( - "~/input/odometry", 1, std::bind(&PlanningEvaluatorNode::onOdometry, this, _1)); - tf_buffer_ = std::make_unique(this->get_clock()); transform_listener_ = std::make_shared(*tf_buffer_); + // Timer callback to publish evaluator diagnostics + using namespace std::literals::chrono_literals; + timer_ = rclcpp::create_timer( + this, get_clock(), 100ms, std::bind(&PlanningEvaluatorNode::onTimer, this)); // Parameters metrics_calculator_.parameters.trajectory.min_point_dist_m = declare_parameter("trajectory.min_point_dist_m"); @@ -133,9 +120,10 @@ void PlanningEvaluatorNode::getRouteData() } } -DiagnosticStatus PlanningEvaluatorNode::generateLaneletDiagnosticStatus() +DiagnosticStatus PlanningEvaluatorNode::generateLaneletDiagnosticStatus( + const Odometry::ConstSharedPtr ego_state_ptr) { - const auto & ego_pose = ego_state_ptr_->pose.pose; + const auto & ego_pose = ego_state_ptr->pose.pose; const auto current_lanelets = [&]() { lanelet::ConstLanelet closest_route_lanelet; route_handler_.getClosestLaneletWithinRoute(ego_pose, &closest_route_lanelet); @@ -166,14 +154,14 @@ DiagnosticStatus PlanningEvaluatorNode::generateLaneletDiagnosticStatus() } DiagnosticStatus PlanningEvaluatorNode::generateKinematicStateDiagnosticStatus( - const AccelWithCovarianceStamped & accel_stamped) + const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr) { DiagnosticStatus status; status.name = "kinematic_state"; status.level = status.OK; diagnostic_msgs::msg::KeyValue key_value; key_value.key = "vel"; - key_value.value = std::to_string(ego_state_ptr_->twist.twist.linear.x); + key_value.value = std::to_string(ego_state_ptr->twist.twist.linear.x); status.values.push_back(key_value); key_value.key = "acc"; const auto & acc = accel_stamped.accel.accel.linear.x; @@ -220,9 +208,40 @@ DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticStatus( return status; } -void PlanningEvaluatorNode::onTrajectory(const Trajectory::ConstSharedPtr traj_msg) +void PlanningEvaluatorNode::onTimer() +{ + metrics_msg_.header.stamp = now(); + + const auto ego_state_ptr = odometry_sub_.takeData(); + onOdometry(ego_state_ptr); + { + const auto objects_msg = objects_sub_.takeData(); + onObjects(objects_msg); + } + + { + const auto ref_traj_msg = ref_sub_.takeData(); + onReferenceTrajectory(ref_traj_msg); + } + + { + const auto traj_msg = traj_sub_.takeData(); + onTrajectory(traj_msg, ego_state_ptr); + } + { + const auto modified_goal_msg = modified_goal_sub_.takeData(); + onModifiedGoal(modified_goal_msg, ego_state_ptr); + } + if (!metrics_msg_.status.empty()) { + metrics_pub_->publish(metrics_msg_); + } + metrics_msg_ = DiagnosticArray{}; +} + +void PlanningEvaluatorNode::onTrajectory( + const Trajectory::ConstSharedPtr traj_msg, const Odometry::ConstSharedPtr ego_state_ptr) { - if (!ego_state_ptr_) { + if (!ego_state_ptr || !traj_msg) { return; } @@ -231,8 +250,6 @@ void PlanningEvaluatorNode::onTrajectory(const Trajectory::ConstSharedPtr traj_m stamps_.push_back(traj_msg->header.stamp); } - DiagnosticArray metrics_msg; - metrics_msg.header.stamp = now(); for (Metric metric : metrics_) { const auto metric_stat = metrics_calculator_.calculate(Metric(metric), *traj_msg); if (!metric_stat) { @@ -244,88 +261,71 @@ void PlanningEvaluatorNode::onTrajectory(const Trajectory::ConstSharedPtr traj_m } if (metric_stat->count() > 0) { - metrics_msg.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); + metrics_msg_.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); } } - if (!metrics_msg.status.empty()) { - metrics_pub_->publish(metrics_msg); - } + metrics_calculator_.setPreviousTrajectory(*traj_msg); auto runtime = (now() - start).seconds(); RCLCPP_DEBUG(get_logger(), "Planning evaluation calculation time: %2.2f ms", runtime * 1e3); } void PlanningEvaluatorNode::onModifiedGoal( - const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg) + const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg, + const Odometry::ConstSharedPtr ego_state_ptr) { - modified_goal_ptr_ = modified_goal_msg; - if (ego_state_ptr_) { - publishModifiedGoalDeviationMetrics(); - } -} - -void PlanningEvaluatorNode::onOdometry(const Odometry::ConstSharedPtr odometry_msg) -{ - ego_state_ptr_ = odometry_msg; - metrics_calculator_.setEgoPose(odometry_msg->pose.pose); - { - DiagnosticArray metrics_msg; - metrics_msg.header.stamp = now(); - - getRouteData(); - if (route_handler_.isHandlerReady() && ego_state_ptr_) { - metrics_msg.status.push_back(generateLaneletDiagnosticStatus()); - } - - const auto acc = accel_sub_.takeData(); - - if (acc && ego_state_ptr_) { - metrics_msg.status.push_back(generateKinematicStateDiagnosticStatus(*acc)); - } - - if (!metrics_msg.status.empty()) { - metrics_pub_->publish(metrics_msg); - } - } - - if (modified_goal_ptr_) { - publishModifiedGoalDeviationMetrics(); + if (!modified_goal_msg || !ego_state_ptr) { + return; } -} - -void PlanningEvaluatorNode::publishModifiedGoalDeviationMetrics() -{ auto start = now(); - DiagnosticArray metrics_msg; - metrics_msg.header.stamp = now(); for (Metric metric : metrics_) { const auto metric_stat = metrics_calculator_.calculate( - Metric(metric), modified_goal_ptr_->pose, ego_state_ptr_->pose.pose); + Metric(metric), modified_goal_msg->pose, ego_state_ptr->pose.pose); if (!metric_stat) { continue; } metric_stats_[static_cast(metric)].push_back(*metric_stat); if (metric_stat->count() > 0) { - metrics_msg.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); + metrics_msg_.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); } } - if (!metrics_msg.status.empty()) { - metrics_pub_->publish(metrics_msg); - } auto runtime = (now() - start).seconds(); RCLCPP_DEBUG( get_logger(), "Planning evaluation modified goal deviation calculation time: %2.2f ms", runtime * 1e3); } +void PlanningEvaluatorNode::onOdometry(const Odometry::ConstSharedPtr odometry_msg) +{ + if (!odometry_msg) return; + metrics_calculator_.setEgoPose(odometry_msg->pose.pose); + { + getRouteData(); + if (route_handler_.isHandlerReady() && odometry_msg) { + metrics_msg_.status.push_back(generateLaneletDiagnosticStatus(odometry_msg)); + } + + const auto acc_msg = accel_sub_.takeData(); + if (acc_msg && odometry_msg) { + metrics_msg_.status.push_back(generateKinematicStateDiagnosticStatus(*acc_msg, odometry_msg)); + } + } +} + void PlanningEvaluatorNode::onReferenceTrajectory(const Trajectory::ConstSharedPtr traj_msg) { + if (!traj_msg) { + return; + } metrics_calculator_.setReferenceTrajectory(*traj_msg); } void PlanningEvaluatorNode::onObjects(const PredictedObjects::ConstSharedPtr objects_msg) { + if (!objects_msg) { + return; + } metrics_calculator_.setPredictedObjects(*objects_msg); } From 8c746ed3669cc49ca7315cf678d76a5bf084cd90 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 5 Jul 2024 13:14:39 +0900 Subject: [PATCH 082/306] perf(map_based_prediction): remove query on all fences linestrings (#7237) Signed-off-by: Maxime CLEMENT --- .../src/map_based_prediction_node.cpp | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index 2b8358eb52e4e..4f223d5c99bd6 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -1309,10 +1309,14 @@ std::string MapBasedPredictionNode::tryMatchNewObjectToDisappeared( bool MapBasedPredictionNode::doesPathCrossAnyFence(const PredictedPath & predicted_path) { - const lanelet::ConstLineStrings3d & all_fences = - lanelet::utils::query::getAllFences(lanelet_map_ptr_); - for (const auto & fence_line : all_fences) { - if (doesPathCrossFence(predicted_path, fence_line)) { + lanelet::BasicLineString2d predicted_path_ls; + for (const auto & p : predicted_path.path) + predicted_path_ls.emplace_back(p.position.x, p.position.y); + const auto candidates = + lanelet_map_ptr_->lineStringLayer.search(lanelet::geometry::boundingBox2d(predicted_path_ls)); + for (const auto & candidate : candidates) { + const std::string type = candidate.attributeOr(lanelet::AttributeName::Type, "none"); + if (type == "fence" && doesPathCrossFence(predicted_path, candidate)) { return true; } } From e4efec200ec4d621e7cc954c9ebea81d1cef1fcf Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 5 Jul 2024 14:17:47 +0900 Subject: [PATCH 083/306] fix(yabloc_image_processing): fix shadowFunction (#7865) * fix(yabloc_image_processing): fix shadowFunction Signed-off-by: veqcc * fix Signed-off-by: veqcc * style(pre-commit): autofix --------- Signed-off-by: veqcc Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/undistort/undistort_node.cpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp index 46f5165c5f4e2..4c33377c8ed0f 100644 --- a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp +++ b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp @@ -53,14 +53,13 @@ class UndistortNode : public rclcpp::Node qos = rclcpp::QoS(10).durability_volatile().best_effort(); } - auto on_image = std::bind(&UndistortNode::on_image, this, _1); - auto on_compressed_image = std::bind(&UndistortNode::on_compressed_image, this, _1); - auto on_info = std::bind(&UndistortNode::on_info, this, _1); - sub_image_ = create_subscription("~/input/image_raw", qos, std::move(on_image)); + sub_image_ = create_subscription( + "~/input/image_raw", qos, std::bind(&UndistortNode::on_image, this, _1)); sub_compressed_image_ = create_subscription( - "~/input/image_raw/compressed", qos, std::move(on_compressed_image)); - - sub_info_ = create_subscription("~/input/camera_info", qos, std::move(on_info)); + "~/input/image_raw/compressed", qos, + std::bind(&UndistortNode::on_compressed_image, this, _1)); + sub_info_ = create_subscription( + "~/input/camera_info", qos, std::bind(&UndistortNode::on_info, this, _1)); pub_info_ = create_publisher("~/output/resized_info", 10); pub_image_ = create_publisher("~/output/resized_image", 10); From b514b1def4e978af7f008ba262d50744c823bec6 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 5 Jul 2024 14:31:00 +0900 Subject: [PATCH 084/306] chore(ci): remove unnecessary cppcheck suppression (#7862) Signed-off-by: Ryuta Kambe --- .cppcheck_suppressions | 1 - 1 file changed, 1 deletion(-) diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions index 1407a01c4054a..7c921dac7db4c 100644 --- a/.cppcheck_suppressions +++ b/.cppcheck_suppressions @@ -15,7 +15,6 @@ missingIncludeSystem noConstructor passedByValue redundantInitialization -shadowFunction shadowVariable // cspell: ignore uninit uninitMemberVar From b3f9b10171e178e13c303dfc6b4e11a79c07bb09 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 5 Jul 2024 15:06:44 +0900 Subject: [PATCH 085/306] fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (#7855) * fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions Signed-off-by: Ryuta Kambe * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- common/fake_test_node/test/test_fake_test_node.cpp | 4 +--- common/osqp_interface/test/test_osqp_interface.cpp | 1 - common/qp_interface/test/test_osqp_interface.cpp | 1 - common/qp_interface/test/test_proxqp_interface.cpp | 1 - 4 files changed, 1 insertion(+), 6 deletions(-) diff --git a/common/fake_test_node/test/test_fake_test_node.cpp b/common/fake_test_node/test/test_fake_test_node.cpp index 163bd761407c5..77e9294cb48c2 100644 --- a/common/fake_test_node/test/test_fake_test_node.cpp +++ b/common/fake_test_node/test/test_fake_test_node.cpp @@ -96,9 +96,7 @@ TEST_F(FakeNodeFixture, Test) } INSTANTIATE_TEST_SUITE_P( - FakeNodeFixtureTests, FakeNodeFixtureParametrized, - // cppcheck-suppress syntaxError // cppcheck doesn't like the trailing comma. - ::testing::Values(-5, 0, 42)); + FakeNodeFixtureTests, FakeNodeFixtureParametrized, ::testing::Values(-5, 0, 42)); /// @test Test that we can use a parametrized test. TEST_P(FakeNodeFixtureParametrized, Test) diff --git a/common/osqp_interface/test/test_osqp_interface.cpp b/common/osqp_interface/test/test_osqp_interface.cpp index caa89c79d08ea..4644ec6c3e019 100644 --- a/common/osqp_interface/test/test_osqp_interface.cpp +++ b/common/osqp_interface/test/test_osqp_interface.cpp @@ -37,7 +37,6 @@ namespace // y = [-2.9, 0.0, 0.2, 0.0]` // obj = 1.88 -// cppcheck-suppress syntaxError TEST(TestOsqpInterface, BasicQp) { using autoware::common::osqp::calCSCMatrix; diff --git a/common/qp_interface/test/test_osqp_interface.cpp b/common/qp_interface/test/test_osqp_interface.cpp index e5d7041469289..5ce1f0eb064a1 100644 --- a/common/qp_interface/test/test_osqp_interface.cpp +++ b/common/qp_interface/test/test_osqp_interface.cpp @@ -37,7 +37,6 @@ namespace // y = [-2.9, 0.0, 0.2, 0.0]` // obj = 1.88 -// cppcheck-suppress syntaxError TEST(TestOsqpInterface, BasicQp) { using qp::calCSCMatrix; diff --git a/common/qp_interface/test/test_proxqp_interface.cpp b/common/qp_interface/test/test_proxqp_interface.cpp index 96466665d5172..c28678e5c872a 100644 --- a/common/qp_interface/test/test_proxqp_interface.cpp +++ b/common/qp_interface/test/test_proxqp_interface.cpp @@ -38,7 +38,6 @@ namespace // y = [-2.9, 0.0, 0.2, 0.0]` // obj = 1.88 -// cppcheck-suppress syntaxError TEST(TestProxqpInterface, BasicQp) { auto check_result = [](const auto & solution) { From 46125cc5bdf615af1f4ee279e53625dce02d3d87 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Fri, 5 Jul 2024 16:37:00 +0900 Subject: [PATCH 086/306] feat(mission_planner): reroute in manual driving (#7842) * feat(mission_planner): reroute in manual driving Signed-off-by: Fumiya Watanabe * docs(mission_planner): update document Signed-off-by: Fumiya Watanabe * feat(mission_planner): fix operation mode state receiving check Signed-off-by: Fumiya Watanabe --------- Signed-off-by: Fumiya Watanabe --- planning/autoware_mission_planner/README.md | 10 ++-- .../launch/mission_planner.launch.xml | 1 + .../src/mission_planner/mission_planner.cpp | 50 ++++++++++++++++--- .../src/mission_planner/mission_planner.hpp | 5 ++ 4 files changed, 54 insertions(+), 12 deletions(-) diff --git a/planning/autoware_mission_planner/README.md b/planning/autoware_mission_planner/README.md index 2f912e30b8246..452d0a64d5c9c 100644 --- a/planning/autoware_mission_planner/README.md +++ b/planning/autoware_mission_planner/README.md @@ -47,10 +47,11 @@ It distributes route requests and planning results according to current MRM oper ### Subscriptions -| Name | Type | Description | -| --------------------- | ----------------------------------- | ---------------------- | -| `input/vector_map` | autoware_map_msgs/msg/LaneletMapBin | vector map of Lanelet2 | -| `input/modified_goal` | geometry_msgs/PoseWithUuidStamped | modified goal pose | +| Name | Type | Description | +| ---------------------------- | ----------------------------------------- | ---------------------- | +| `input/vector_map` | autoware_map_msgs/msg/LaneletMapBin | vector map of Lanelet2 | +| `input/modified_goal` | geometry_msgs/PoseWithUuidStamped | modified goal pose | +| `input/operation_mode_state` | autoware_adapi_v1_msgs/OperationModeState | operation mode state | ### Publications @@ -170,6 +171,7 @@ To calculate `route_lanelets`, ### Rerouting Reroute here means changing the route while driving. Unlike route setting, it is required to keep a certain distance from vehicle to the point where the route is changed. +If the ego vehicle is not on autonomous driving state, the safety checking process will be skipped. ![rerouting_safety](./media/rerouting_safety.svg) diff --git a/planning/autoware_mission_planner/launch/mission_planner.launch.xml b/planning/autoware_mission_planner/launch/mission_planner.launch.xml index 655662c392213..8d77e417a6379 100644 --- a/planning/autoware_mission_planner/launch/mission_planner.launch.xml +++ b/planning/autoware_mission_planner/launch/mission_planner.launch.xml @@ -10,6 +10,7 @@ + diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp index 0df01257f049e..2b1b943e002a8 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp @@ -55,6 +55,9 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options) const auto durable_qos = rclcpp::QoS(1).transient_local(); sub_odometry_ = create_subscription( "~/input/odometry", rclcpp::QoS(1), std::bind(&MissionPlanner::on_odometry, this, _1)); + sub_operation_mode_state_ = create_subscription( + "~/input/operation_mode_state", rclcpp::QoS(1), + std::bind(&MissionPlanner::on_operation_mode_state, this, _1)); sub_vector_map_ = create_subscription( "~/input/vector_map", durable_qos, std::bind(&MissionPlanner::on_map, this, _1)); pub_marker_ = create_publisher("~/debug/route_marker", durable_qos); @@ -130,6 +133,11 @@ void MissionPlanner::on_odometry(const Odometry::ConstSharedPtr msg) } } +void MissionPlanner::on_operation_mode_state(const OperationModeState::ConstSharedPtr msg) +{ + operation_mode_state_ = msg; +} + void MissionPlanner::on_map(const LaneletMapBin::ConstSharedPtr msg) { map_ptr_ = msg; @@ -222,10 +230,23 @@ void MissionPlanner::on_set_lanelet_route( throw service_utils::ServiceException( ResponseCode::ERROR_PLANNER_UNREADY, "The vehicle pose is not received."); } - const auto reroute_availability = sub_reroute_availability_.takeData(); - if (is_reroute && (!reroute_availability || !reroute_availability->availability)) { + if (is_reroute && !operation_mode_state_) { throw service_utils::ServiceException( - ResponseCode::ERROR_INVALID_STATE, "Cannot reroute as the planner is not in lane following."); + ResponseCode::ERROR_PLANNER_UNREADY, "Operation mode state is not received."); + } + + const bool is_autonomous_driving = + operation_mode_state_ ? operation_mode_state_->mode == OperationModeState::AUTONOMOUS && + operation_mode_state_->is_autoware_control_enabled + : false; + + if (is_reroute && is_autonomous_driving) { + const auto reroute_availability = sub_reroute_availability_.takeData(); + if (!reroute_availability || !reroute_availability->availability) { + throw service_utils::ServiceException( + ResponseCode::ERROR_INVALID_STATE, + "Cannot reroute as the planner is not in lane following."); + } } change_state(is_reroute ? RouteState::REROUTING : RouteState::ROUTING); @@ -238,7 +259,7 @@ void MissionPlanner::on_set_lanelet_route( ResponseCode::ERROR_PLANNER_FAILED, "The planned route is empty."); } - if (is_reroute && !check_reroute_safety(*current_route_, route)) { + if (is_reroute && is_autonomous_driving && !check_reroute_safety(*current_route_, route)) { cancel_route(); change_state(RouteState::SET); throw service_utils::ServiceException( @@ -271,10 +292,23 @@ void MissionPlanner::on_set_waypoint_route( throw service_utils::ServiceException( ResponseCode::ERROR_PLANNER_UNREADY, "The vehicle pose is not received."); } - const auto reroute_availability = sub_reroute_availability_.takeData(); - if (is_reroute && (!reroute_availability || !reroute_availability->availability)) { + if (is_reroute && !operation_mode_state_) { throw service_utils::ServiceException( - ResponseCode::ERROR_INVALID_STATE, "Cannot reroute as the planner is not in lane following."); + ResponseCode::ERROR_PLANNER_UNREADY, "Operation mode state is not received."); + } + + const bool is_autonomous_driving = + operation_mode_state_ ? operation_mode_state_->mode == OperationModeState::AUTONOMOUS && + operation_mode_state_->is_autoware_control_enabled + : false; + + if (is_reroute && is_autonomous_driving) { + const auto reroute_availability = sub_reroute_availability_.takeData(); + if (!reroute_availability || !reroute_availability->availability) { + throw service_utils::ServiceException( + ResponseCode::ERROR_INVALID_STATE, + "Cannot reroute as the planner is not in lane following."); + } } change_state(is_reroute ? RouteState::REROUTING : RouteState::ROUTING); @@ -287,7 +321,7 @@ void MissionPlanner::on_set_waypoint_route( ResponseCode::ERROR_PLANNER_FAILED, "The planned route is empty."); } - if (is_reroute && !check_reroute_safety(*current_route_, route)) { + if (is_reroute && is_autonomous_driving && !check_reroute_safety(*current_route_, route)) { cancel_route(); change_state(RouteState::SET); throw service_utils::ServiceException( diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp index 1a04a91c14ba3..1181ef54273ae 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp @@ -24,6 +24,7 @@ #include #include +#include #include #include #include @@ -45,6 +46,7 @@ namespace autoware::mission_planner { +using autoware_adapi_v1_msgs::msg::OperationModeState; using autoware_map_msgs::msg::LaneletMapBin; using autoware_planning_msgs::msg::LaneletPrimitive; using autoware_planning_msgs::msg::LaneletRoute; @@ -85,18 +87,21 @@ class MissionPlanner : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_modified_goal_; rclcpp::Subscription::SharedPtr sub_odometry_; + rclcpp::Subscription::SharedPtr sub_operation_mode_state_; autoware::universe_utils::InterProcessPollingSubscriber sub_reroute_availability_{this, "~/input/reroute_availability"}; rclcpp::Subscription::SharedPtr sub_vector_map_; rclcpp::Publisher::SharedPtr pub_marker_; Odometry::ConstSharedPtr odometry_; + OperationModeState::ConstSharedPtr operation_mode_state_; LaneletMapBin::ConstSharedPtr map_ptr_; RouteState state_; LaneletRoute::ConstSharedPtr current_route_; lanelet::LaneletMapPtr lanelet_map_ptr_{nullptr}; void on_odometry(const Odometry::ConstSharedPtr msg); + void on_operation_mode_state(const OperationModeState::ConstSharedPtr msg); void on_map(const LaneletMapBin::ConstSharedPtr msg); void on_reroute_availability(const RerouteAvailability::ConstSharedPtr msg); void on_modified_goal(const PoseWithUuidStamped::ConstSharedPtr msg); From a5ab63ba751675cbecfa58bb091c026197d95cc7 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 5 Jul 2024 16:47:02 +0900 Subject: [PATCH 087/306] refactor(map_loader): apply static analysis (#7845) * refactor based on linter Signed-off-by: a-maumau * style(pre-commit): autofix --------- Signed-off-by: a-maumau Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../map_loader/lanelet2_map_loader_node.hpp | 7 +- .../lanelet2_map_visualization_node.hpp | 2 +- .../lanelet2_local_projector.hpp | 2 +- .../lanelet2_map_loader_node.cpp | 10 +- .../lanelet2_map_visualization_node.cpp | 160 ++++++++++-------- .../differential_map_loader_module.cpp | 30 ++-- .../differential_map_loader_module.hpp | 12 +- .../partial_map_loader_module.cpp | 33 ++-- .../partial_map_loader_module.hpp | 12 +- .../pointcloud_map_loader_module.cpp | 8 +- .../pointcloud_map_loader_module.hpp | 2 +- .../pointcloud_map_loader_node.cpp | 33 ++-- .../pointcloud_map_loader_node.hpp | 4 +- .../selected_map_loader_module.cpp | 28 +-- .../selected_map_loader_module.hpp | 6 +- .../src/pointcloud_map_loader/utils.cpp | 36 ++-- .../src/pointcloud_map_loader/utils.hpp | 10 +- .../test/test_cylinder_box_overlap.cpp | 6 +- .../test/test_load_pcd_metadata.cpp | 6 +- .../test_pointcloud_map_loader_module.cpp | 4 +- .../test/test_replace_with_absolute_path.cpp | 4 +- 21 files changed, 217 insertions(+), 198 deletions(-) diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp index 4e85ddec056c1..8bfdbc5d5560c 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp @@ -27,9 +27,6 @@ #include #include -using autoware_map_msgs::msg::LaneletMapBin; -using tier4_map_msgs::msg::MapProjectorInfo; - class Lanelet2MapLoaderNode : public rclcpp::Node { public: @@ -38,7 +35,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node static lanelet::LaneletMapPtr load_map( const std::string & lanelet2_filename, const tier4_map_msgs::msg::MapProjectorInfo & projector_info); - static LaneletMapBin create_map_bin_msg( + static autoware_map_msgs::msg::LaneletMapBin create_map_bin_msg( const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now); @@ -48,7 +45,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg); component_interface_utils::Subscription::SharedPtr sub_map_projector_info_; - rclcpp::Publisher::SharedPtr pub_map_bin_; + rclcpp::Publisher::SharedPtr pub_map_bin_; }; #endif // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ diff --git a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp index cb640e4dc83d5..049d714ec452a 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp +++ b/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp @@ -34,7 +34,7 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node bool viz_lanelets_centerline_; - void onMapBin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg); + void on_map_bin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg); }; #endif // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_ diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp index 225445d17bfa1..d73ec0d1ee06e 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp @@ -30,7 +30,7 @@ class LocalProjector : public Projector return BasicPoint3d{0.0, 0.0, gps.ele}; } - GPSPoint reverse(const BasicPoint3d & point) const override + [[nodiscard]] GPSPoint reverse(const BasicPoint3d & point) const override { return GPSPoint{0.0, 0.0, point.z()}; } diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index 7b712c7c281a2..e2b2a052619e4 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -51,6 +51,9 @@ #include +using autoware_map_msgs::msg::LaneletMapBin; +using tier4_map_msgs::msg::MapProjectorInfo; + Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options) : Node("lanelet2_map_loader", options) { @@ -105,13 +108,13 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( if (projector_info.projector_type != tier4_map_msgs::msg::MapProjectorInfo::LOCAL) { std::unique_ptr projector = geography_utils::get_lanelet2_projector(projector_info); - const lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, *projector, &errors); + lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, *projector, &errors); if (errors.empty()) { return map; } } else { const lanelet::projection::LocalProjector projector; - const lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors); + lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors); if (!errors.empty()) { for (const auto & error : errors) { @@ -150,7 +153,8 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( LaneletMapBin Lanelet2MapLoaderNode::create_map_bin_msg( const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now) { - std::string format_version{}, map_version{}; + std::string format_version{}; + std::string map_version{}; lanelet::io_handlers::AutowareOsmParser::parseVersions( lanelet2_filename, &format_version, &map_version); diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp index 87319222001d9..4bff12c640c30 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp @@ -51,18 +51,18 @@ namespace { -void insertMarkerArray( +void insert_marker_array( visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2) { a1->markers.insert(a1->markers.end(), a2.markers.begin(), a2.markers.end()); } -void setColor(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, double a) +void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, double a) { - cl->r = r; - cl->g = g; - cl->b = b; - cl->a = a; + cl->r = static_cast(r); + cl->g = static_cast(g); + cl->b = static_cast(b); + cl->a = static_cast(a); } } // namespace @@ -75,13 +75,13 @@ Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOpt sub_map_bin_ = this->create_subscription( "input/lanelet2_map", rclcpp::QoS{1}.transient_local(), - std::bind(&Lanelet2MapVisualizationNode::onMapBin, this, _1)); + std::bind(&Lanelet2MapVisualizationNode::on_map_bin, this, _1)); pub_marker_ = this->create_publisher( "output/lanelet2_map_marker", rclcpp::QoS{1}.transient_local()); } -void Lanelet2MapVisualizationNode::onMapBin( +void Lanelet2MapVisualizationNode::on_map_bin( const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg) { lanelet::LaneletMapPtr viz_lanelet_map(new lanelet::LaneletMap); @@ -103,8 +103,6 @@ void Lanelet2MapVisualizationNode::onMapBin( lanelet::ConstLanelets walkway_lanelets = lanelet::utils::query::walkwayLanelets(all_lanelets); std::vector stop_lines = lanelet::utils::query::stopLinesLanelets(road_lanelets); - std::vector tl_reg_elems = - lanelet::utils::query::trafficLights(all_lanelets); std::vector aw_tl_reg_elems = lanelet::utils::query::autowareTrafficLights(all_lanelets); std::vector da_reg_elems = @@ -133,140 +131,158 @@ void Lanelet2MapVisualizationNode::onMapBin( lanelet::utils::query::noParkingAreas(all_lanelets); lanelet::ConstLineStrings3d curbstones = lanelet::utils::query::curbstones(viz_lanelet_map); - std_msgs::msg::ColorRGBA cl_road, cl_shoulder, cl_cross, cl_partitions, cl_pedestrian_markings, - cl_ll_borders, cl_shoulder_borders, cl_stoplines, cl_trafficlights, cl_detection_areas, - cl_speed_bumps, cl_crosswalks, cl_parking_lots, cl_parking_spaces, cl_lanelet_id, - cl_obstacle_polygons, cl_no_stopping_areas, cl_no_obstacle_segmentation_area, - cl_no_obstacle_segmentation_area_for_run_out, cl_hatched_road_markings_area, - cl_hatched_road_markings_line, cl_no_parking_areas, cl_curbstones, cl_intersection_area; - setColor(&cl_road, 0.27, 0.27, 0.27, 0.999); - setColor(&cl_shoulder, 0.15, 0.15, 0.15, 0.999); - setColor(&cl_cross, 0.27, 0.3, 0.27, 0.5); - setColor(&cl_partitions, 0.25, 0.25, 0.25, 0.999); - setColor(&cl_pedestrian_markings, 0.5, 0.5, 0.5, 0.999); - setColor(&cl_ll_borders, 0.5, 0.5, 0.5, 0.999); - setColor(&cl_shoulder_borders, 0.2, 0.2, 0.2, 0.999); - setColor(&cl_stoplines, 0.5, 0.5, 0.5, 0.999); - setColor(&cl_trafficlights, 0.5, 0.5, 0.5, 0.8); - setColor(&cl_detection_areas, 0.27, 0.27, 0.37, 0.5); - setColor(&cl_no_stopping_areas, 0.37, 0.37, 0.37, 0.5); - setColor(&cl_speed_bumps, 0.56, 0.40, 0.27, 0.5); - setColor(&cl_crosswalks, 0.80, 0.80, 0.0, 0.5); - setColor(&cl_obstacle_polygons, 0.4, 0.27, 0.27, 0.5); - setColor(&cl_parking_lots, 1.0, 1.0, 1.0, 0.2); - setColor(&cl_parking_spaces, 1.0, 1.0, 1.0, 0.3); - setColor(&cl_lanelet_id, 0.5, 0.5, 0.5, 0.999); - setColor(&cl_no_obstacle_segmentation_area, 0.37, 0.37, 0.27, 0.5); - setColor(&cl_no_obstacle_segmentation_area_for_run_out, 0.37, 0.7, 0.27, 0.5); - setColor(&cl_hatched_road_markings_area, 0.3, 0.3, 0.3, 0.5); - setColor(&cl_hatched_road_markings_line, 0.5, 0.5, 0.5, 0.999); - setColor(&cl_no_parking_areas, 0.42, 0.42, 0.42, 0.5); - setColor(&cl_curbstones, 0.1, 0.1, 0.2, 0.999); - setColor(&cl_intersection_area, 0.16, 1.0, 0.69, 0.5); + std_msgs::msg::ColorRGBA cl_road; + std_msgs::msg::ColorRGBA cl_shoulder; + std_msgs::msg::ColorRGBA cl_cross; + std_msgs::msg::ColorRGBA cl_partitions; + std_msgs::msg::ColorRGBA cl_pedestrian_markings; + std_msgs::msg::ColorRGBA cl_ll_borders; + std_msgs::msg::ColorRGBA cl_shoulder_borders; + std_msgs::msg::ColorRGBA cl_stoplines; + std_msgs::msg::ColorRGBA cl_trafficlights; + std_msgs::msg::ColorRGBA cl_detection_areas; + std_msgs::msg::ColorRGBA cl_speed_bumps; + std_msgs::msg::ColorRGBA cl_crosswalks; + std_msgs::msg::ColorRGBA cl_parking_lots; + std_msgs::msg::ColorRGBA cl_parking_spaces; + std_msgs::msg::ColorRGBA cl_lanelet_id; + std_msgs::msg::ColorRGBA cl_obstacle_polygons; + std_msgs::msg::ColorRGBA cl_no_stopping_areas; + std_msgs::msg::ColorRGBA cl_no_obstacle_segmentation_area; + std_msgs::msg::ColorRGBA cl_no_obstacle_segmentation_area_for_run_out; + std_msgs::msg::ColorRGBA cl_hatched_road_markings_area; + std_msgs::msg::ColorRGBA cl_hatched_road_markings_line; + std_msgs::msg::ColorRGBA cl_no_parking_areas; + std_msgs::msg::ColorRGBA cl_curbstones; + std_msgs::msg::ColorRGBA cl_intersection_area; + set_color(&cl_road, 0.27, 0.27, 0.27, 0.999); + set_color(&cl_shoulder, 0.15, 0.15, 0.15, 0.999); + set_color(&cl_cross, 0.27, 0.3, 0.27, 0.5); + set_color(&cl_partitions, 0.25, 0.25, 0.25, 0.999); + set_color(&cl_pedestrian_markings, 0.5, 0.5, 0.5, 0.999); + set_color(&cl_ll_borders, 0.5, 0.5, 0.5, 0.999); + set_color(&cl_shoulder_borders, 0.2, 0.2, 0.2, 0.999); + set_color(&cl_stoplines, 0.5, 0.5, 0.5, 0.999); + set_color(&cl_trafficlights, 0.5, 0.5, 0.5, 0.8); + set_color(&cl_detection_areas, 0.27, 0.27, 0.37, 0.5); + set_color(&cl_no_stopping_areas, 0.37, 0.37, 0.37, 0.5); + set_color(&cl_speed_bumps, 0.56, 0.40, 0.27, 0.5); + set_color(&cl_crosswalks, 0.80, 0.80, 0.0, 0.5); + set_color(&cl_obstacle_polygons, 0.4, 0.27, 0.27, 0.5); + set_color(&cl_parking_lots, 1.0, 1.0, 1.0, 0.2); + set_color(&cl_parking_spaces, 1.0, 1.0, 1.0, 0.3); + set_color(&cl_lanelet_id, 0.5, 0.5, 0.5, 0.999); + set_color(&cl_no_obstacle_segmentation_area, 0.37, 0.37, 0.27, 0.5); + set_color(&cl_no_obstacle_segmentation_area_for_run_out, 0.37, 0.7, 0.27, 0.5); + set_color(&cl_hatched_road_markings_area, 0.3, 0.3, 0.3, 0.5); + set_color(&cl_hatched_road_markings_line, 0.5, 0.5, 0.5, 0.999); + set_color(&cl_no_parking_areas, 0.42, 0.42, 0.42, 0.5); + set_color(&cl_curbstones, 0.1, 0.1, 0.2, 0.999); + set_color(&cl_intersection_area, 0.16, 1.0, 0.69, 0.5); visualization_msgs::msg::MarkerArray map_marker_array; - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::lineStringsAsMarkerArray(stop_lines, "stop_lines", cl_stoplines, 0.5)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::lineStringsAsMarkerArray(partitions, "partitions", cl_partitions, 0.1)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::laneletDirectionAsMarkerArray(shoulder_lanelets, "shoulder_")); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::laneletDirectionAsMarkerArray(road_lanelets)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::laneletsAsTriangleMarkerArray( "crosswalk_lanelets", crosswalk_lanelets, cl_cross)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::pedestrianPolygonMarkingsAsMarkerArray( pedestrian_polygon_markings, cl_pedestrian_markings)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::pedestrianLineMarkingsAsMarkerArray( pedestrian_line_markings, cl_pedestrian_markings)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::laneletsAsTriangleMarkerArray( "walkway_lanelets", walkway_lanelets, cl_cross)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::obstaclePolygonsAsMarkerArray(obstacle_polygons, cl_obstacle_polygons)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::detectionAreasAsMarkerArray(da_reg_elems, cl_detection_areas)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::noStoppingAreasAsMarkerArray(no_reg_elems, cl_no_stopping_areas)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::speedBumpsAsMarkerArray(sb_reg_elems, cl_speed_bumps)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::crosswalkAreasAsMarkerArray(cw_reg_elems, cl_crosswalks)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::parkingLotsAsMarkerArray(parking_lots, cl_parking_lots)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::parkingSpacesAsMarkerArray(parking_spaces, cl_parking_spaces)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::laneletsBoundaryAsMarkerArray( shoulder_lanelets, cl_shoulder_borders, viz_lanelets_centerline_, "shoulder_")); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::laneletsBoundaryAsMarkerArray( road_lanelets, cl_ll_borders, viz_lanelets_centerline_)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::autowareTrafficLightsAsMarkerArray(aw_tl_reg_elems, cl_trafficlights)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::generateTrafficLightRegulatoryElementIdMaker( road_lanelets, cl_trafficlights)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::generateTrafficLightRegulatoryElementIdMaker( crosswalk_lanelets, cl_trafficlights)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::generateTrafficLightIdMaker(aw_tl_reg_elems, cl_trafficlights)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::generateLaneletIdMarker(shoulder_lanelets, cl_lanelet_id)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::generateLaneletIdMarker(road_lanelets, cl_lanelet_id)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::generateLaneletIdMarker( crosswalk_lanelets, cl_lanelet_id, "crosswalk_lanelet_id")); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::laneletsAsTriangleMarkerArray( "shoulder_road_lanelets", shoulder_lanelets, cl_shoulder)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::laneletsAsTriangleMarkerArray("road_lanelets", road_lanelets, cl_road)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::noObstacleSegmentationAreaAsMarkerArray( no_obstacle_segmentation_area, cl_no_obstacle_segmentation_area)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::noObstacleSegmentationAreaForRunOutAsMarkerArray( no_obstacle_segmentation_area_for_run_out, cl_no_obstacle_segmentation_area_for_run_out)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::hatchedRoadMarkingsAreaAsMarkerArray( hatched_road_markings_area, cl_hatched_road_markings_area, cl_hatched_road_markings_line)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::noParkingAreasAsMarkerArray(no_parking_reg_elems, cl_no_parking_areas)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::lineStringsAsMarkerArray(curbstones, "curbstone", cl_curbstones, 0.2)); - insertMarkerArray( + insert_marker_array( &map_marker_array, lanelet::visualization::intersectionAreaAsMarkerArray( intersection_areas, cl_intersection_area)); diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index a8d380fd81b86..da42389dcc69f 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -14,20 +14,22 @@ #include "differential_map_loader_module.hpp" +#include + DifferentialMapLoaderModule::DifferentialMapLoaderModule( - rclcpp::Node * node, const std::map & pcd_file_metadata_dict) -: logger_(node->get_logger()), all_pcd_file_metadata_dict_(pcd_file_metadata_dict) + rclcpp::Node * node, std::map pcd_file_metadata_dict) +: logger_(node->get_logger()), all_pcd_file_metadata_dict_(std::move(pcd_file_metadata_dict)) { get_differential_pcd_maps_service_ = node->create_service( "service/get_differential_pcd_map", std::bind( - &DifferentialMapLoaderModule::onServiceGetDifferentialPointCloudMap, this, + &DifferentialMapLoaderModule::on_service_get_differential_point_cloud_map, this, std::placeholders::_1, std::placeholders::_2)); } -void DifferentialMapLoaderModule::differentialAreaLoad( - const autoware_map_msgs::msg::AreaInfo & area, const std::vector & cached_ids, - GetDifferentialPointCloudMap::Response::SharedPtr & response) const +void DifferentialMapLoaderModule::differential_area_load( + const autoware_map_msgs::msg::AreaInfo & area_info, const std::vector & cached_ids, + const GetDifferentialPointCloudMap::Response::SharedPtr & response) const { // iterate over all the available pcd map grids std::vector should_remove(static_cast(cached_ids.size()), true); @@ -36,18 +38,18 @@ void DifferentialMapLoaderModule::differentialAreaLoad( PCDFileMetadata metadata = ele.second; // assume that the map ID = map path (for now) - std::string map_id = path; + const std::string & map_id = path; // skip if the pcd file is not within the queried area - if (!isGridWithinQueriedArea(area, metadata)) continue; + if (!is_grid_within_queried_area(area_info, metadata)) continue; auto id_in_cached_list = std::find(cached_ids.begin(), cached_ids.end(), map_id); if (id_in_cached_list != cached_ids.end()) { - int index = id_in_cached_list - cached_ids.begin(); + int index = static_cast(id_in_cached_list - cached_ids.begin()); should_remove[index] = false; } else { autoware_map_msgs::msg::PointCloudMapCellWithID pointcloud_map_cell_with_id = - loadPointCloudMapCellWithID(path, map_id); + load_point_cloud_map_cell_with_id(path, map_id); pointcloud_map_cell_with_id.metadata.min_x = metadata.min.x; pointcloud_map_cell_with_id.metadata.min_y = metadata.min.y; pointcloud_map_cell_with_id.metadata.max_x = metadata.max.x; @@ -63,19 +65,19 @@ void DifferentialMapLoaderModule::differentialAreaLoad( } } -bool DifferentialMapLoaderModule::onServiceGetDifferentialPointCloudMap( +bool DifferentialMapLoaderModule::on_service_get_differential_point_cloud_map( GetDifferentialPointCloudMap::Request::SharedPtr req, - GetDifferentialPointCloudMap::Response::SharedPtr res) + GetDifferentialPointCloudMap::Response::SharedPtr res) const { auto area = req->area; std::vector cached_ids = req->cached_ids; - differentialAreaLoad(area, cached_ids, res); + differential_area_load(area, cached_ids, res); res->header.frame_id = "map"; return true; } autoware_map_msgs::msg::PointCloudMapCellWithID -DifferentialMapLoaderModule::loadPointCloudMapCellWithID( +DifferentialMapLoaderModule::load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const { sensor_msgs::msg::PointCloud2 pcd; diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp index 7069e1dbdf45c..690ffeca653c8 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp +++ b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp @@ -38,7 +38,7 @@ class DifferentialMapLoaderModule public: explicit DifferentialMapLoaderModule( - rclcpp::Node * node, const std::map & pcd_file_metadata_dict); + rclcpp::Node * node, std::map pcd_file_metadata_dict); private: rclcpp::Logger logger_; @@ -46,13 +46,13 @@ class DifferentialMapLoaderModule std::map all_pcd_file_metadata_dict_; rclcpp::Service::SharedPtr get_differential_pcd_maps_service_; - bool onServiceGetDifferentialPointCloudMap( + [[nodiscard]] bool on_service_get_differential_point_cloud_map( GetDifferentialPointCloudMap::Request::SharedPtr req, - GetDifferentialPointCloudMap::Response::SharedPtr res); - void differentialAreaLoad( + GetDifferentialPointCloudMap::Response::SharedPtr res) const; + void differential_area_load( const autoware_map_msgs::msg::AreaInfo & area_info, const std::vector & cached_ids, - GetDifferentialPointCloudMap::Response::SharedPtr & response) const; - autoware_map_msgs::msg::PointCloudMapCellWithID loadPointCloudMapCellWithID( + const GetDifferentialPointCloudMap::Response::SharedPtr & response) const; + [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp b/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp index 8c9378e9dfadb..62e165dd1005b 100644 --- a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp +++ b/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp @@ -14,19 +14,22 @@ #include "partial_map_loader_module.hpp" +#include + PartialMapLoaderModule::PartialMapLoaderModule( - rclcpp::Node * node, const std::map & pcd_file_metadata_dict) -: logger_(node->get_logger()), all_pcd_file_metadata_dict_(pcd_file_metadata_dict) + rclcpp::Node * node, std::map pcd_file_metadata_dict) +: logger_(node->get_logger()), all_pcd_file_metadata_dict_(std::move(pcd_file_metadata_dict)) { get_partial_pcd_maps_service_ = node->create_service( - "service/get_partial_pcd_map", std::bind( - &PartialMapLoaderModule::onServiceGetPartialPointCloudMap, - this, std::placeholders::_1, std::placeholders::_2)); + "service/get_partial_pcd_map", + std::bind( + &PartialMapLoaderModule::on_service_get_partial_point_cloud_map, this, std::placeholders::_1, + std::placeholders::_2)); } -void PartialMapLoaderModule::partialAreaLoad( +void PartialMapLoaderModule::partial_area_load( const autoware_map_msgs::msg::AreaInfo & area, - GetPartialPointCloudMap::Response::SharedPtr & response) const + const GetPartialPointCloudMap::Response::SharedPtr & response) const { // iterate over all the available pcd map grids for (const auto & ele : all_pcd_file_metadata_dict_) { @@ -34,13 +37,13 @@ void PartialMapLoaderModule::partialAreaLoad( PCDFileMetadata metadata = ele.second; // assume that the map ID = map path (for now) - std::string map_id = path; + const std::string & map_id = path; // skip if the pcd file is not within the queried area - if (!isGridWithinQueriedArea(area, metadata)) continue; + if (!is_grid_within_queried_area(area, metadata)) continue; autoware_map_msgs::msg::PointCloudMapCellWithID pointcloud_map_cell_with_id = - loadPointCloudMapCellWithID(path, map_id); + load_point_cloud_map_cell_with_id(path, map_id); pointcloud_map_cell_with_id.metadata.min_x = metadata.min.x; pointcloud_map_cell_with_id.metadata.min_y = metadata.min.y; pointcloud_map_cell_with_id.metadata.max_x = metadata.max.x; @@ -50,16 +53,18 @@ void PartialMapLoaderModule::partialAreaLoad( } } -bool PartialMapLoaderModule::onServiceGetPartialPointCloudMap( - GetPartialPointCloudMap::Request::SharedPtr req, GetPartialPointCloudMap::Response::SharedPtr res) +bool PartialMapLoaderModule::on_service_get_partial_point_cloud_map( + GetPartialPointCloudMap::Request::SharedPtr req, + GetPartialPointCloudMap::Response::SharedPtr res) const { auto area = req->area; - partialAreaLoad(area, res); + partial_area_load(area, res); res->header.frame_id = "map"; return true; } -autoware_map_msgs::msg::PointCloudMapCellWithID PartialMapLoaderModule::loadPointCloudMapCellWithID( +autoware_map_msgs::msg::PointCloudMapCellWithID +PartialMapLoaderModule::load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const { sensor_msgs::msg::PointCloud2 pcd; diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp b/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp index 4d97ab90667ec..ec97661366419 100644 --- a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp +++ b/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp @@ -38,7 +38,7 @@ class PartialMapLoaderModule public: explicit PartialMapLoaderModule( - rclcpp::Node * node, const std::map & pcd_file_metadata_dict); + rclcpp::Node * node, std::map pcd_file_metadata_dict); private: rclcpp::Logger logger_; @@ -46,13 +46,13 @@ class PartialMapLoaderModule std::map all_pcd_file_metadata_dict_; rclcpp::Service::SharedPtr get_partial_pcd_maps_service_; - bool onServiceGetPartialPointCloudMap( + [[nodiscard]] bool on_service_get_partial_point_cloud_map( GetPartialPointCloudMap::Request::SharedPtr req, - GetPartialPointCloudMap::Response::SharedPtr res); - void partialAreaLoad( + GetPartialPointCloudMap::Response::SharedPtr res) const; + void partial_area_load( const autoware_map_msgs::msg::AreaInfo & area, - GetPartialPointCloudMap::Response::SharedPtr & response) const; - autoware_map_msgs::msg::PointCloudMapCellWithID loadPointCloudMapCellWithID( + const GetPartialPointCloudMap::Response::SharedPtr & response) const; + [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp index a66f9ee99534c..1754d0b7629a2 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp +++ b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp @@ -50,10 +50,10 @@ PointcloudMapLoaderModule::PointcloudMapLoaderModule( sensor_msgs::msg::PointCloud2 pcd; if (use_downsample) { - const float leaf_size = node->declare_parameter("leaf_size"); - pcd = loadPCDFiles(pcd_paths, leaf_size); + const float leaf_size = static_cast(node->declare_parameter("leaf_size")); + pcd = load_pcd_files(pcd_paths, leaf_size); } else { - pcd = loadPCDFiles(pcd_paths, boost::none); + pcd = load_pcd_files(pcd_paths, boost::none); } if (pcd.width == 0) { @@ -65,7 +65,7 @@ PointcloudMapLoaderModule::PointcloudMapLoaderModule( pub_pointcloud_map_->publish(pcd); } -sensor_msgs::msg::PointCloud2 PointcloudMapLoaderModule::loadPCDFiles( +sensor_msgs::msg::PointCloud2 PointcloudMapLoaderModule::load_pcd_files( const std::vector & pcd_paths, const boost::optional leaf_size) const { sensor_msgs::msg::PointCloud2 whole_pcd; diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp index 6a87643b57bff..44f23ded70e37 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp +++ b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp @@ -39,7 +39,7 @@ class PointcloudMapLoaderModule rclcpp::Logger logger_; rclcpp::Publisher::SharedPtr pub_pointcloud_map_; - sensor_msgs::msg::PointCloud2 loadPCDFiles( + [[nodiscard]] sensor_msgs::msg::PointCloud2 load_pcd_files( const std::vector & pcd_paths, const boost::optional leaf_size) const; }; diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp index 349fc2954fe28..c718b25c56694 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp +++ b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp @@ -28,7 +28,7 @@ namespace fs = std::filesystem; namespace { -bool isPcdFile(const std::string & p) +bool is_pcd_file(const std::string & p) { if (fs::is_directory(p)) { return false; @@ -36,11 +36,7 @@ bool isPcdFile(const std::string & p) const std::string ext = fs::path(p).extension(); - if (ext != ".pcd" && ext != ".PCD") { - return false; - } - - return true; + return !(ext != ".pcd" && ext != ".PCD"); } } // namespace @@ -48,7 +44,7 @@ PointCloudMapLoaderNode::PointCloudMapLoaderNode(const rclcpp::NodeOptions & opt : Node("pointcloud_map_loader", options) { const auto pcd_paths = - getPcdPaths(declare_parameter>("pcd_paths_or_directory")); + get_pcd_paths(declare_parameter>("pcd_paths_or_directory")); std::string pcd_metadata_path = declare_parameter("pcd_metadata_path"); bool enable_whole_load = declare_parameter("enable_whole_load"); bool enable_downsample_whole_load = declare_parameter("enable_downsampled_whole_load"); @@ -68,7 +64,7 @@ PointCloudMapLoaderNode::PointCloudMapLoaderNode(const rclcpp::NodeOptions & opt } // Parse the metadata file and get the map of (absolute pcd path, pcd file metadata) - auto pcd_metadata_dict = getPCDMetadata(pcd_metadata_path, pcd_paths); + auto pcd_metadata_dict = get_pcd_metadata(pcd_metadata_path, pcd_paths); if (enable_partial_load) { partial_map_loader_ = std::make_unique(this, pcd_metadata_dict); @@ -81,14 +77,14 @@ PointCloudMapLoaderNode::PointCloudMapLoaderNode(const rclcpp::NodeOptions & opt } } -std::map PointCloudMapLoaderNode::getPCDMetadata( +std::map PointCloudMapLoaderNode::get_pcd_metadata( const std::string & pcd_metadata_path, const std::vector & pcd_paths) const { if (fs::exists(pcd_metadata_path)) { std::set missing_pcd_names; - auto pcd_metadata_dict = loadPCDMetadata(pcd_metadata_path); + auto pcd_metadata_dict = load_pcd_metadata(pcd_metadata_path); - pcd_metadata_dict = replaceWithAbsolutePath(pcd_metadata_dict, pcd_paths, missing_pcd_names); + pcd_metadata_dict = replace_with_absolute_path(pcd_metadata_dict, pcd_paths, missing_pcd_names); // Warning if some segments are missing if (!missing_pcd_names.empty()) { @@ -96,7 +92,7 @@ std::map PointCloudMapLoaderNode::getPCDMetadata( oss << "The following segment(s) are missing from the input PCDs: "; - for (auto & fname : missing_pcd_names) { + for (const auto & fname : missing_pcd_names) { oss << std::endl << fname; } @@ -105,7 +101,9 @@ std::map PointCloudMapLoaderNode::getPCDMetadata( } return pcd_metadata_dict; - } else if (pcd_paths.size() == 1) { + } + + if (pcd_paths.size() == 1) { // An exception when using a single file PCD map so that the users do not have to provide // a metadata file. // Note that this should ideally be avoided and thus eventually be removed by someone, until @@ -119,12 +117,11 @@ std::map PointCloudMapLoaderNode::getPCDMetadata( PCDFileMetadata metadata = {}; pcl::getMinMax3D(single_pcd, metadata.min, metadata.max); return std::map{{pcd_path, metadata}}; - } else { - throw std::runtime_error("PCD metadata file not found: " + pcd_metadata_path); } + throw std::runtime_error("PCD metadata file not found: " + pcd_metadata_path); } -std::vector PointCloudMapLoaderNode::getPcdPaths( +std::vector PointCloudMapLoaderNode::get_pcd_paths( const std::vector & pcd_paths_or_directory) const { std::vector pcd_paths; @@ -133,14 +130,14 @@ std::vector PointCloudMapLoaderNode::getPcdPaths( RCLCPP_ERROR_STREAM(get_logger(), "invalid path: " << p); } - if (isPcdFile(p)) { + if (is_pcd_file(p)) { pcd_paths.push_back(p); } if (fs::is_directory(p)) { for (const auto & file : fs::directory_iterator(p)) { const auto filename = file.path().string(); - if (isPcdFile(filename)) { + if (is_pcd_file(filename)) { pcd_paths.push_back(filename); } } diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp index fd9b297a9e3f4..dbc0d584d347b 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp +++ b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp @@ -45,9 +45,9 @@ class PointCloudMapLoaderNode : public rclcpp::Node std::unique_ptr differential_map_loader_; std::unique_ptr selected_map_loader_; - std::vector getPcdPaths( + std::vector get_pcd_paths( const std::vector & pcd_paths_or_directory) const; - std::map getPCDMetadata( + std::map get_pcd_metadata( const std::string & pcd_metadata_path, const std::vector & pcd_paths) const; }; diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp b/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp index 3e7b046f9d178..76b56341b8632 100644 --- a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp +++ b/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp @@ -13,9 +13,11 @@ // limitations under the License. #include "selected_map_loader_module.hpp" + +#include namespace { -autoware_map_msgs::msg::PointCloudMapMetaData createMetadata( +autoware_map_msgs::msg::PointCloudMapMetaData create_metadata( const std::map & pcd_file_metadata_dict) { autoware_map_msgs::msg::PointCloudMapMetaData metadata_msg; @@ -23,11 +25,10 @@ autoware_map_msgs::msg::PointCloudMapMetaData createMetadata( metadata_msg.header.stamp = rclcpp::Clock().now(); for (const auto & ele : pcd_file_metadata_dict) { - std::string path = ele.first; PCDFileMetadata metadata = ele.second; // assume that the map ID = map path (for now) - std::string map_id = path; + const std::string & map_id = ele.first; autoware_map_msgs::msg::PointCloudMapCellMetaDataWithID cell_metadata_with_id; cell_metadata_with_id.cell_id = map_id; @@ -44,23 +45,24 @@ autoware_map_msgs::msg::PointCloudMapMetaData createMetadata( } // namespace SelectedMapLoaderModule::SelectedMapLoaderModule( - rclcpp::Node * node, const std::map & pcd_file_metadata_dict) -: logger_(node->get_logger()), all_pcd_file_metadata_dict_(pcd_file_metadata_dict) + rclcpp::Node * node, std::map pcd_file_metadata_dict) +: logger_(node->get_logger()), all_pcd_file_metadata_dict_(std::move(pcd_file_metadata_dict)) { get_selected_pcd_maps_service_ = node->create_service( - "service/get_selected_pcd_map", std::bind( - &SelectedMapLoaderModule::onServiceGetSelectedPointCloudMap, - this, std::placeholders::_1, std::placeholders::_2)); + "service/get_selected_pcd_map", + std::bind( + &SelectedMapLoaderModule::on_service_get_selected_point_cloud_map, this, + std::placeholders::_1, std::placeholders::_2)); // publish the map metadata rclcpp::QoS durable_qos{1}; durable_qos.transient_local(); pub_metadata_ = node->create_publisher( "output/pointcloud_map_metadata", durable_qos); - pub_metadata_->publish(createMetadata(all_pcd_file_metadata_dict_)); + pub_metadata_->publish(create_metadata(all_pcd_file_metadata_dict_)); } -bool SelectedMapLoaderModule::onServiceGetSelectedPointCloudMap( +bool SelectedMapLoaderModule::on_service_get_selected_point_cloud_map( GetSelectedPointCloudMap::Request::SharedPtr req, GetSelectedPointCloudMap::Response::SharedPtr res) const { @@ -76,11 +78,11 @@ bool SelectedMapLoaderModule::onServiceGetSelectedPointCloudMap( const std::string path = requested_selected_map_iterator->first; // assume that the map ID = map path (for now) - const std::string map_id = path; + const std::string & map_id = path; PCDFileMetadata metadata = requested_selected_map_iterator->second; autoware_map_msgs::msg::PointCloudMapCellWithID pointcloud_map_cell_with_id = - loadPointCloudMapCellWithID(path, map_id); + load_point_cloud_map_cell_with_id(path, map_id); pointcloud_map_cell_with_id.metadata.min_x = metadata.min.x; pointcloud_map_cell_with_id.metadata.min_y = metadata.min.y; pointcloud_map_cell_with_id.metadata.max_x = metadata.max.x; @@ -93,7 +95,7 @@ bool SelectedMapLoaderModule::onServiceGetSelectedPointCloudMap( } autoware_map_msgs::msg::PointCloudMapCellWithID -SelectedMapLoaderModule::loadPointCloudMapCellWithID( +SelectedMapLoaderModule::load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const { sensor_msgs::msg::PointCloud2 pcd; diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp b/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp index f44d549a0f576..eea8b8c1950ae 100644 --- a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp +++ b/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp @@ -39,7 +39,7 @@ class SelectedMapLoaderModule public: explicit SelectedMapLoaderModule( - rclcpp::Node * node, const std::map & pcd_file_metadata_dict); + rclcpp::Node * node, std::map pcd_file_metadata_dict); private: rclcpp::Logger logger_; @@ -49,10 +49,10 @@ class SelectedMapLoaderModule rclcpp::Publisher::SharedPtr pub_metadata_; - bool onServiceGetSelectedPointCloudMap( + [[nodiscard]] bool on_service_get_selected_point_cloud_map( GetSelectedPointCloudMap::Request::SharedPtr req, GetSelectedPointCloudMap::Response::SharedPtr res) const; - autoware_map_msgs::msg::PointCloudMapCellWithID loadPointCloudMapCellWithID( + [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; diff --git a/map/map_loader/src/pointcloud_map_loader/utils.cpp b/map/map_loader/src/pointcloud_map_loader/utils.cpp index 96f9d114ed265..ea2c2e7033014 100644 --- a/map/map_loader/src/pointcloud_map_loader/utils.cpp +++ b/map/map_loader/src/pointcloud_map_loader/utils.cpp @@ -20,7 +20,7 @@ #include #include -std::map loadPCDMetadata(const std::string & pcd_metadata_path) +std::map load_pcd_metadata(const std::string & pcd_metadata_path) { YAML::Node config = YAML::LoadFile(pcd_metadata_path); @@ -33,22 +33,22 @@ std::map loadPCDMetadata(const std::string & pcd_m continue; } - std::string key = node.first.as(); - std::vector values = node.second.as>(); + auto key = node.first.as(); + auto values = node.second.as>(); - PCDFileMetadata fileMetadata; - fileMetadata.min.x = values[0]; - fileMetadata.min.y = values[1]; - fileMetadata.max.x = values[0] + config["x_resolution"].as(); - fileMetadata.max.y = values[1] + config["y_resolution"].as(); + PCDFileMetadata file_metadata; + file_metadata.min.x = static_cast(values[0]); + file_metadata.min.y = static_cast(values[1]); + file_metadata.max.x = static_cast(values[0]) + config["x_resolution"].as(); + file_metadata.max.y = static_cast(values[1]) + config["y_resolution"].as(); - metadata[key] = fileMetadata; + metadata[key] = file_metadata; } return metadata; } -std::map replaceWithAbsolutePath( +std::map replace_with_absolute_path( const std::map & pcd_metadata_path, const std::vector & pcd_paths, std::set & missing_pcd_names) { @@ -75,7 +75,7 @@ std::map replaceWithAbsolutePath( return absolute_path_map; } -bool cylinderAndBoxOverlapExists( +bool cylinder_and_box_overlap_exists( const double center_x, const double center_y, const double radius, const pcl::PointXYZ box_min_point, const pcl::PointXYZ box_max_point) { @@ -92,22 +92,18 @@ bool cylinderAndBoxOverlapExists( const double dy0 = center_y - box_min_point.y; const double dy1 = center_y - box_max_point.y; - if ( - std::hypot(dx0, dy0) <= radius || std::hypot(dx1, dy0) <= radius || - std::hypot(dx0, dy1) <= radius || std::hypot(dx1, dy1) <= radius) { - return true; - } - - return false; + return std::hypot(dx0, dy0) <= radius || std::hypot(dx1, dy0) <= radius || + std::hypot(dx0, dy1) <= radius || std::hypot(dx1, dy1) <= radius; } -bool isGridWithinQueriedArea( +bool is_grid_within_queried_area( const autoware_map_msgs::msg::AreaInfo area, const PCDFileMetadata metadata) { // Currently, the area load only supports cylindrical area double center_x = area.center_x; double center_y = area.center_y; double radius = area.radius; - bool res = cylinderAndBoxOverlapExists(center_x, center_y, radius, metadata.min, metadata.max); + bool res = + cylinder_and_box_overlap_exists(center_x, center_y, radius, metadata.min, metadata.max); return res; } diff --git a/map/map_loader/src/pointcloud_map_loader/utils.hpp b/map/map_loader/src/pointcloud_map_loader/utils.hpp index 29d9a24d7b0e7..07e8ade5c6f7c 100644 --- a/map/map_loader/src/pointcloud_map_loader/utils.hpp +++ b/map/map_loader/src/pointcloud_map_loader/utils.hpp @@ -37,15 +37,15 @@ struct PCDFileMetadata } }; -std::map loadPCDMetadata(const std::string & pcd_metadata_path); -std::map replaceWithAbsolutePath( +std::map load_pcd_metadata(const std::string & pcd_metadata_path); +std::map replace_with_absolute_path( const std::map & pcd_metadata_path, const std::vector & pcd_paths, std::set & missing_pcd_names); -bool cylinderAndBoxOverlapExists( +bool cylinder_and_box_overlap_exists( const double center_x, const double center_y, const double radius, - const pcl::PointXYZ position_min, const pcl::PointXYZ position_max); -bool isGridWithinQueriedArea( + const pcl::PointXYZ box_min_point, const pcl::PointXYZ box_max_point); +bool is_grid_within_queried_area( const autoware_map_msgs::msg::AreaInfo area, const PCDFileMetadata metadata); #endif // POINTCLOUD_MAP_LOADER__UTILS_HPP_ diff --git a/map/map_loader/test/test_cylinder_box_overlap.cpp b/map/map_loader/test/test_cylinder_box_overlap.cpp index 4c9b18a3dbd8e..d8ca2ca9f8734 100644 --- a/map/map_loader/test/test_cylinder_box_overlap.cpp +++ b/map/map_loader/test/test_cylinder_box_overlap.cpp @@ -35,7 +35,7 @@ TEST(CylinderAndBoxOverlapExists, NoOverlap) p_max.y = 1.0; p_max.z = 1.0; - bool result = cylinderAndBoxOverlapExists(center_x, center_y, radius, p_min, p_max); + bool result = cylinder_and_box_overlap_exists(center_x, center_y, radius, p_min, p_max); EXPECT_FALSE(result); } @@ -57,7 +57,7 @@ TEST(CylinderAndBoxOverlapExists, Overlap1) p_max.y = 1.0; p_max.z = 1.0; - bool result = cylinderAndBoxOverlapExists(center_x, center_y, radius, p_min, p_max); + bool result = cylinder_and_box_overlap_exists(center_x, center_y, radius, p_min, p_max); EXPECT_TRUE(result); } @@ -79,6 +79,6 @@ TEST(CylinderAndBoxOverlapExists, Overlap2) p_max.y = 1.0; p_max.z = -99.0; - bool result = cylinderAndBoxOverlapExists(center_x, center_y, radius, p_min, p_max); + bool result = cylinder_and_box_overlap_exists(center_x, center_y, radius, p_min, p_max); EXPECT_TRUE(result); } diff --git a/map/map_loader/test/test_load_pcd_metadata.cpp b/map/map_loader/test/test_load_pcd_metadata.cpp index a832489b6db99..fcec100f389c5 100644 --- a/map/map_loader/test/test_load_pcd_metadata.cpp +++ b/map/map_loader/test/test_load_pcd_metadata.cpp @@ -21,7 +21,7 @@ using ::testing::ContainerEq; -std::string createYAMLFile() +std::string create_yaml_file() { std::filesystem::path tmp_path = std::filesystem::temp_directory_path() / "temp_metadata.yaml"; @@ -37,14 +37,14 @@ std::string createYAMLFile() TEST(LoadPCDMetadataTest, BasicFunctionality) { - std::string yaml_file_path = createYAMLFile(); + std::string yaml_file_path = create_yaml_file(); std::map expected = { {"file1.pcd", {{1, 2, 0}, {6, 8, 0}}}, {"file2.pcd", {{3, 4, 0}, {8, 10, 0}}}, }; - auto result = loadPCDMetadata(yaml_file_path); + auto result = load_pcd_metadata(yaml_file_path); ASSERT_THAT(result, ContainerEq(expected)); } diff --git a/map/map_loader/test/test_pointcloud_map_loader_module.cpp b/map/map_loader/test/test_pointcloud_map_loader_module.cpp index 2b686dc0fe8c3..5667f476b4dab 100644 --- a/map/map_loader/test/test_pointcloud_map_loader_module.cpp +++ b/map/map_loader/test/test_pointcloud_map_loader_module.cpp @@ -26,8 +26,6 @@ #include #include -using std::chrono_literals::operator""ms; - class TestPointcloudMapLoaderModule : public ::testing::Test { protected: @@ -61,6 +59,8 @@ class TestPointcloudMapLoaderModule : public ::testing::Test TEST_F(TestPointcloudMapLoaderModule, LoadPCDFilesNoDownsampleTest) { + using namespace std::literals::chrono_literals; + // Prepare PCD paths std::vector pcd_paths = {temp_pcd_path}; diff --git a/map/map_loader/test/test_replace_with_absolute_path.cpp b/map/map_loader/test/test_replace_with_absolute_path.cpp index f61dd188f0679..03d533d41cf18 100644 --- a/map/map_loader/test/test_replace_with_absolute_path.cpp +++ b/map/map_loader/test/test_replace_with_absolute_path.cpp @@ -37,7 +37,7 @@ TEST(ReplaceWithAbsolutePathTest, BasicFunctionality) }; std::set missing_pcd_names; - auto result = replaceWithAbsolutePath(pcd_metadata_path, pcd_paths, missing_pcd_names); + auto result = replace_with_absolute_path(pcd_metadata_path, pcd_paths, missing_pcd_names); ASSERT_THAT(result, ContainerEq(expected)); } @@ -56,7 +56,7 @@ TEST(ReplaceWithAbsolutePathTest, NoMatchingFiles) std::map expected = {}; std::set missing_pcd_names; - auto result = replaceWithAbsolutePath(pcd_metadata_path, pcd_paths, missing_pcd_names); + auto result = replace_with_absolute_path(pcd_metadata_path, pcd_paths, missing_pcd_names); ASSERT_THAT(result, ContainerEq(expected)); } From 73459c10ed896dc1e82d049a495a10058fc72fe7 Mon Sep 17 00:00:00 2001 From: Koichi98 <45482193+Koichi98@users.noreply.github.com> Date: Fri, 5 Jul 2024 16:47:51 +0900 Subject: [PATCH 088/306] fix(system_monitor): apply cppcheck-suppress for cstyleCast (#7867) * fix(system_monitor): apply cppcheck-suppress for cstyleCast Signed-off-by: Koichi Imai * fix(system_monitor): apply cppcheck-suppress for cstyleCast Signed-off-by: Koichi Imai * style(pre-commit): autofix --------- Signed-off-by: Koichi Imai Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- system/system_monitor/reader/hdd_reader/hdd_reader.cpp | 7 +++++-- system/system_monitor/reader/msr_reader/msr_reader.cpp | 1 + .../system_monitor/src/cpu_monitor/intel_cpu_monitor.cpp | 1 + system/system_monitor/src/hdd_monitor/hdd_monitor.cpp | 2 ++ .../test/src/cpu_monitor/test_intel_cpu_monitor.cpp | 1 + .../test/src/hdd_monitor/test_hdd_monitor.cpp | 1 + 6 files changed, 11 insertions(+), 2 deletions(-) diff --git a/system/system_monitor/reader/hdd_reader/hdd_reader.cpp b/system/system_monitor/reader/hdd_reader/hdd_reader.cpp index f12e34c8aca46..cbb37343be05e 100644 --- a/system/system_monitor/reader/hdd_reader/hdd_reader.cpp +++ b/system/system_monitor/reader/hdd_reader/hdd_reader.cpp @@ -198,7 +198,8 @@ int get_ata_identify(int fd, HddInfo * info) // Create a control structure hdr.interface_id = 'S'; // This must be set to 'S' hdr.dxfer_direction = SG_DXFER_FROM_DEV; // a SCSI READ command - hdr.cmd_len = sizeof(ata); // length in bytes of the SCSI command that 'cmdp' points to + hdr.cmd_len = sizeof(ata); // length in bytes of the SCSI command that 'cmdp' points to + // cppcheck-suppress cstyleCast hdr.cmdp = (unsigned char *)&ata; // SCSI command to be executed hdr.dxfer_len = sizeof(data); // number of bytes to be moved in the data transfer hdr.dxferp = data; // a pointer to user memory @@ -260,7 +261,8 @@ int get_ata_smart_data(int fd, HddInfo * info, const HddDevice & device) // Create a control structure hdr.interface_id = 'S'; // This must be set to 'S' hdr.dxfer_direction = SG_DXFER_FROM_DEV; // a SCSI READ command - hdr.cmd_len = sizeof(ata); // length in bytes of the SCSI command that 'cmdp' points to + hdr.cmd_len = sizeof(ata); // length in bytes of the SCSI command that 'cmdp' points to + // cppcheck-suppress cstyleCast hdr.cmdp = (unsigned char *)&ata; // SCSI command to be executed hdr.dxfer_len = sizeof(data); // number of bytes to be moved in the data transfer hdr.dxferp = &data; // a pointer to user memory @@ -545,6 +547,7 @@ void run(int port) addr.sin_family = AF_INET; addr.sin_port = htons(port); addr.sin_addr.s_addr = htonl(INADDR_ANY); + // cppcheck-suppress cstyleCast ret = bind(sock, (struct sockaddr *)&addr, sizeof(addr)); if (ret < 0) { syslog(LOG_ERR, "Failed to give the socket FD the local address ADDR. %s\n", strerror(errno)); diff --git a/system/system_monitor/reader/msr_reader/msr_reader.cpp b/system/system_monitor/reader/msr_reader/msr_reader.cpp index 16f8fe9b93477..6de88d9e23276 100644 --- a/system/system_monitor/reader/msr_reader/msr_reader.cpp +++ b/system/system_monitor/reader/msr_reader/msr_reader.cpp @@ -114,6 +114,7 @@ void run(int port, const std::vector & list) addr.sin_family = AF_INET; addr.sin_port = htons(port); addr.sin_addr.s_addr = htonl(INADDR_ANY); + // cppcheck-suppress cstyleCast ret = bind(sock, (struct sockaddr *)&addr, sizeof(addr)); if (ret < 0) { syslog(LOG_ERR, "Failed to give the socket FD the local address ADDR. %s\n", strerror(errno)); diff --git a/system/system_monitor/src/cpu_monitor/intel_cpu_monitor.cpp b/system/system_monitor/src/cpu_monitor/intel_cpu_monitor.cpp index e78d49b55a3df..1e6325d9c452b 100644 --- a/system/system_monitor/src/cpu_monitor/intel_cpu_monitor.cpp +++ b/system/system_monitor/src/cpu_monitor/intel_cpu_monitor.cpp @@ -76,6 +76,7 @@ void CPUMonitor::checkThrottling(diagnostic_updater::DiagnosticStatusWrapper & s addr.sin_family = AF_INET; addr.sin_port = htons(msr_reader_port_); addr.sin_addr.s_addr = htonl(INADDR_ANY); + // cppcheck-suppress cstyleCast ret = connect(sock, (struct sockaddr *)&addr, sizeof(addr)); if (ret < 0) { stat.summary(DiagStatus::ERROR, "connect error"); diff --git a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp b/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp index c57aea81d410d..85a88d2430bce 100644 --- a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp +++ b/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp @@ -615,6 +615,7 @@ void HddMonitor::updateHddInfoList() addr.sin_family = AF_INET; addr.sin_port = htons(hdd_reader_port_); addr.sin_addr.s_addr = htonl(INADDR_ANY); + // cppcheck-suppress cstyleCast ret = connect(sock, (struct sockaddr *)&addr, sizeof(addr)); if (ret < 0) { connect_diag_.summary(DiagStatus::ERROR, "connect error"); @@ -854,6 +855,7 @@ int HddMonitor::unmountDevice(std::string & device) addr.sin_family = AF_INET; addr.sin_port = htons(hdd_reader_port_); addr.sin_addr.s_addr = htonl(INADDR_ANY); + // cppcheck-suppress cstyleCast ret = connect(sock, (struct sockaddr *)&addr, sizeof(addr)); if (ret < 0) { RCLCPP_ERROR(get_logger(), "socket connect error. %s", strerror(errno)); diff --git a/system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp b/system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp index 0f321efe5c311..45ce75cbe3fae 100644 --- a/system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp +++ b/system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp @@ -200,6 +200,7 @@ void * msr_reader(void * args) addr.sin_family = AF_INET; addr.sin_port = htons(7634); addr.sin_addr.s_addr = htonl(INADDR_ANY); + // cppcheck-suppress cstyleCast ret = bind(sock, (struct sockaddr *)&addr, sizeof(addr)); if (ret < 0) { close(sock); diff --git a/system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp b/system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp index 4a948029a2f3a..aa5359ba1ceb6 100644 --- a/system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp +++ b/system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp @@ -206,6 +206,7 @@ void * hdd_reader(void * args) addr.sin_family = AF_INET; addr.sin_port = htons(7635); addr.sin_addr.s_addr = htonl(INADDR_ANY); + // cppcheck-suppress cstyleCast ret = bind(sock, (struct sockaddr *)&addr, sizeof(addr)); if (ret < 0) { close(sock); From 38bd1408df885e470386e90bd2740bcb027724a7 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 5 Jul 2024 16:48:06 +0900 Subject: [PATCH 089/306] feat(tier4_perception_launch): add image segmentation based pointcloud filter (#7225) * feat(tier4_perception_launch): add image segmentation based pointcloud filter Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen * fix: detection launch Signed-off-by: badai-nguyen * chore: add maintainer Signed-off-by: badai-nguyen * Revert "chore: add maintainer" This reverts commit 5adfef6e9ca8196d3ba88ad574b2ba35489a5e49. --------- Signed-off-by: badai-nguyen --- .../detection/detection.launch.xml | 2 ++ .../detector/camera_lidar_detector.launch.xml | 13 ++++++++++++- .../launch/perception.launch.xml | 2 ++ 3 files changed, 16 insertions(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml index 373e343ad64fa..b3280fee47364 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -13,6 +13,7 @@ + @@ -163,6 +164,7 @@ + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml index 4c288aa632182..fba0144e6cee1 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml @@ -4,6 +4,7 @@ + @@ -95,14 +96,24 @@ + + + + + + + + + + - + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 5d8d7563e7a7c..6c428a5adea0b 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -80,6 +80,7 @@ + + From d11701b985f76806addf8cc79449c50680b1c31f Mon Sep 17 00:00:00 2001 From: Koichi98 <45482193+Koichi98@users.noreply.github.com> Date: Fri, 5 Jul 2024 16:56:54 +0900 Subject: [PATCH 090/306] fix(bluetooth_monitor): apply cppcheck-suppress for cstyleCast (#7869) Signed-off-by: Koichi Imai --- system/bluetooth_monitor/service/l2ping_service.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/system/bluetooth_monitor/service/l2ping_service.cpp b/system/bluetooth_monitor/service/l2ping_service.cpp index e811ffb030cd6..f20c763d643ce 100644 --- a/system/bluetooth_monitor/service/l2ping_service.cpp +++ b/system/bluetooth_monitor/service/l2ping_service.cpp @@ -60,6 +60,7 @@ bool L2pingService::initialize() address.sin_family = AF_INET; address.sin_port = htons(port_); address.sin_addr.s_addr = htonl(INADDR_ANY); + // cppcheck-suppress cstyleCast ret = bind(socket_, (struct sockaddr *)&address, sizeof(address)); if (ret < 0) { syslog(LOG_ERR, "Failed to give the socket FD the local address ADDR. %s\n", strerror(errno)); From 39bd72220a8af1dfe2b9f0c0b08772a72dba6841 Mon Sep 17 00:00:00 2001 From: SaltUhey <111027815+SaltUhey@users.noreply.github.com> Date: Fri, 5 Jul 2024 17:26:20 +0900 Subject: [PATCH 091/306] feat(ndt_scan_matcher): estimate the covariance of ndt scan matching in real time instead of using a predefined value (#7596) * enable to calculate 2D covariance in real time Signed-off-by: yuhei * enable to display offset_pose Signed-off-by: yuhei * enable to publish estimated ndt_dev Signed-off-by: yuhei * Addition of explanation of 2D real-time covariance estimation Signed-off-by: yuhei * fix name of picture Signed-off-by: yuhei * style(pre-commit): autofix * fix covariance_covariance_estimation.json Signed-off-by: yuhei * fix covariance_covariance_estimation.json Signed-off-by: yuhei * style(pre-commit): autofix * Commonality using estimated_cov_2d and removal of unnecessary publishers Signed-off-by: yuhei * Add a specific explanation for 2D real-time covariance estimation Signed-off-by: yuhei * style(pre-commit): autofix * Remove initial_pose_offset_model_x and initial_pose_offset_model_y from the structure in hyper_parameters.hpp Signed-off-by: yuhei * Generate initial_pose_offset_model_x and initial_pose_offset_model_y from initial_pose_offset_model Signed-off-by: yuhei * Addition of covariance_estimation_type Signed-off-by: yuhei * style(pre-commit): autofix * Add temperature to parameters Signed-off-by: yuhei * Remove covariance_estimation.enable from the parameters and change the return value of estimate_covariance() Signed-off-by: yuhei * style(pre-commit): autofix * Add a temperature description Signed-off-by: yuhei * Add processing when the inverse matrix cannot be calculated in estimate_covariance() Signed-off-by: yuhei * set default value and range of temperature Signed-off-by: yuhei * Simplify the code Signed-off-by: yuhei * style(pre-commit): autofix * Fix explanation of covariance_estimation_type Signed-off-by: yuhei * Define initial_pose_offset_model_x and initial_pose_offset_model_y in hyper_parameters Signed-off-by: yuhei * style(pre-commit): autofix * Add explanation of 2D real-time covariance estimation Signed-off-by: yuhei --------- Signed-off-by: yuhei Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- localization/ndt_scan_matcher/README.md | 12 +- .../config/ndt_scan_matcher.param.yaml | 7 +- .../ndt_scan_matcher/hyper_parameters.hpp | 59 +++++----- .../ndt_scan_matcher_core.hpp | 2 +- .../media/calculation_of_ndt_covariance.png | Bin 0 -> 103464 bytes .../sub/covariance_covariance_estimation.json | 23 +++- .../src/ndt_scan_matcher_core.cpp | 107 +++++++++--------- 7 files changed, 117 insertions(+), 93 deletions(-) create mode 100644 localization/ndt_scan_matcher/media/calculation_of_ndt_covariance.png diff --git a/localization/ndt_scan_matcher/README.md b/localization/ndt_scan_matcher/README.md index 48ce49d2bcaa9..1881deab23d05 100644 --- a/localization/ndt_scan_matcher/README.md +++ b/localization/ndt_scan_matcher/README.md @@ -241,18 +241,26 @@ This is a function that uses no ground LiDAR scan to estimate the scan matching ### Abstract -Calculate 2D covariance (xx, xy, yx, yy) in real time using the NDT convergence from multiple initial poses. -The arrangement of multiple initial poses is efficiently limited by the Hessian matrix of the NDT score function. +Initially, the covariance of NDT scan matching is a fixed value(FIXED_VALUE mode). +So, three modes are provided for 2D covariance (xx, xy, yx, yy) estimation in real time: LAPLACE_APPROXIMATION, MULTI_NDT, and MULTI_NDT_SCORE. +LAPLACE_APPROXIMATION calculates the inverse matrix of the XY (2x2) part of the Hessian obtained by NDT scan matching and uses it as the covariance matrix. +On the other hand, MULTI_NDT, and MULTI_NDT_SCORE use NDT convergence from multiple initial poses to obtain 2D covariance. +Ideally, the arrangement of multiple initial poses is efficiently limited by the Hessian matrix of the NDT score function. In this implementation, the number of initial positions is fixed to simplify the code. +To obtain the covariance, MULTI_NDT computes until convergence at each initial position, while MULTI_NDT_SCORE uses the nearest voxel transformation likelihood. The covariance can be seen as error ellipse from ndt_pose_with_covariance setting on rviz2. [original paper](https://www.fujipress.jp/jrm/rb/robot003500020435/). +drawing + Note that this function may spoil healthy system behavior if it consumes much calculation resources. ### Parameters +There are three types in the calculation of 2D covariance in real time.You can select the method by changing covariance_estimation_type. initial_pose_offset_model is rotated around (x,y) = (0,0) in the direction of the first principal component of the Hessian matrix. initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. +In MULTI_NDT_SCORE mode, the scale of the output 2D covariance can be adjusted according to the temperature. {{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json") }} diff --git a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml index f62329b8bdb6d..616cb108baf4a 100644 --- a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml +++ b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml @@ -107,13 +107,18 @@ # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) covariance_estimation: - enable: false + # Covariance estimation type + # 0=FIXED_VALUE, 1=LAPLACE_APPROXIMATION, 2=MULTI_NDT, 3=MULTI_NDT_SCORE + covariance_estimation_type: 0 # Offset arrangement in covariance estimation [m] # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] + # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance + temperature: 0.1 + dynamic_map_loading: # Dynamic map loading distance diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp index e488b49393d48..d6bd975c36bf3 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp @@ -29,6 +29,13 @@ enum class ConvergedParamType { NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD = 1 }; +enum class CovarianceEstimationType { + FIXED_VALUE = 0, + LAPLACE_APPROXIMATION = 1, + MULTI_NDT = 2, + MULTI_NDT_SCORE = 3, +}; + struct HyperParameters { struct Frame @@ -80,8 +87,10 @@ struct HyperParameters struct CovarianceEstimation { - bool enable{}; - std::vector initial_pose_offset_model{}; + CovarianceEstimationType covariance_estimation_type{}; + std::vector initial_pose_offset_model_x{}; + std::vector initial_pose_offset_model_y{}; + double temperature{}; } covariance_estimation{}; } covariance{}; @@ -148,33 +157,27 @@ struct HyperParameters for (std::size_t i = 0; i < output_pose_covariance.size(); ++i) { covariance.output_pose_covariance[i] = output_pose_covariance[i]; } - covariance.covariance_estimation.enable = - node->declare_parameter("covariance.covariance_estimation.enable"); - if (covariance.covariance_estimation.enable) { - std::vector initial_pose_offset_model_x = - node->declare_parameter>( - "covariance.covariance_estimation.initial_pose_offset_model_x"); - std::vector initial_pose_offset_model_y = - node->declare_parameter>( - "covariance.covariance_estimation.initial_pose_offset_model_y"); - - if (initial_pose_offset_model_x.size() == initial_pose_offset_model_y.size()) { - const size_t size = initial_pose_offset_model_x.size(); - covariance.covariance_estimation.initial_pose_offset_model.resize(size); - for (size_t i = 0; i < size; i++) { - covariance.covariance_estimation.initial_pose_offset_model[i].x() = - initial_pose_offset_model_x[i]; - covariance.covariance_estimation.initial_pose_offset_model[i].y() = - initial_pose_offset_model_y[i]; - } - } else { - std::stringstream message; - message << "Invalid initial pose offset model parameters." - << "Please make sure that the number of elements in " - << "initial_pose_offset_model_x and initial_pose_offset_model_y are the same."; - throw std::runtime_error(message.str()); - } + const int64_t covariance_estimation_type_tmp = node->declare_parameter( + "covariance.covariance_estimation.covariance_estimation_type"); + covariance.covariance_estimation.covariance_estimation_type = + static_cast(covariance_estimation_type_tmp); + covariance.covariance_estimation.initial_pose_offset_model_x = + node->declare_parameter>( + "covariance.covariance_estimation.initial_pose_offset_model_x"); + covariance.covariance_estimation.initial_pose_offset_model_y = + node->declare_parameter>( + "covariance.covariance_estimation.initial_pose_offset_model_y"); + if ( + covariance.covariance_estimation.initial_pose_offset_model_x.size() != + covariance.covariance_estimation.initial_pose_offset_model_y.size()) { + std::stringstream message; + message << "Invalid initial pose offset model parameters." + << "Please make sure that the number of elements in " + << "initial_pose_offset_model_x and initial_pose_offset_model_y are the same."; + throw std::runtime_error(message.str()); } + covariance.covariance_estimation.temperature = + node->declare_parameter("covariance.covariance_estimation.temperature"); dynamic_map_loading.update_distance = node->declare_parameter("dynamic_map_loading.update_distance"); diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index 2f3eb82b1c217..119c3534cab16 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -131,7 +131,7 @@ class NDTScanMatcher : public rclcpp::Node static int count_oscillation(const std::vector & result_pose_msg_array); - std::array estimate_covariance( + Eigen::Matrix2d estimate_covariance( const pclomp::NdtResult & ndt_result, const Eigen::Matrix4f & initial_pose_matrix, const rclcpp::Time & sensor_ros_time); diff --git a/localization/ndt_scan_matcher/media/calculation_of_ndt_covariance.png b/localization/ndt_scan_matcher/media/calculation_of_ndt_covariance.png new file mode 100644 index 0000000000000000000000000000000000000000..f6e25d04c0fd6f9dff9b924876c66e2ac2df17d4 GIT binary patch literal 103464 zcmZ6yWmsInvNb%xA-D$*1b2705G**s-Q8{Q;1WV`cemi~65QQ&aCiGA>GDkq7AfQJA80Fb0UizxyCFtPvu#1oeE7#rI-n%O#?LbeNlA7V9ER(BG0FxGc6 zx3wWrHn%ng-vj_ym{{0$8f%z1c2h%`S$7liNSK*-ll)mYcS3@gnfD5QPFNM=0RSWb zDKTMXx74E*pqZvxI_KHx(SctI?CHr&`TI$^!3Pt?5Eg2&kF5AfH_?Sg9S9#nWMD{R zMM{iFa%!Y$ImhSsiNBG5R~{9zFeRzg0Fm5gi6gVA`(e`hHiIg01C1H8i4=bw;h@A|Mg=uu)0J3YXF$cME?HxN{0EgkNLue(S_^AVB01< 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minimum value).", - "default": false + "covariance_estimation_type": { + "type": "number", + "description": "2D Real-time Converged estimation type. 0=FIXED_VALUE, 1=LAPLACE_APPROXIMATION, 2=MULTI_NDT, 3=MULTI_NDT_SCORE (FIXED_VALUE mode does not perform 2D Real-time Converged estimation)", + "default": 0, + "minimum": 0, + "maximum": 3 }, "initial_pose_offset_model_x": { "type": "array", @@ -19,9 +21,20 @@ "type": "array", "description": "Offset arrangement in covariance estimation [m]. initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.", "default": [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] + }, + "temperature": { + "type": "number", + "description": "In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance", + "default": 0.1, + "exclusiveMinimum": 0 } }, - "required": ["enable", "initial_pose_offset_model_x", "initial_pose_offset_model_y"], + + "required": [ + "covariance_estimation_type", + "initial_pose_offset_model_x", + "initial_pose_offset_model_y" + ], "additionalProperties": false } } diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index ca486a320d9dc..6d34f666b997b 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -21,6 +21,7 @@ #include #include +#include #include @@ -566,11 +567,17 @@ bool NDTScanMatcher::callback_sensor_points_main( std::array ndt_covariance = rotate_covariance(param_.covariance.output_pose_covariance, map_to_base_link_rotation); - - if (is_converged && param_.covariance.covariance_estimation.enable) { - const auto estimated_covariance = + if ( + param_.covariance.covariance_estimation.covariance_estimation_type != + CovarianceEstimationType::FIXED_VALUE) { + const Eigen::Matrix2d estimated_covariance_2d = estimate_covariance(ndt_result, initial_pose_matrix, sensor_ros_time); - ndt_covariance = estimated_covariance; + const Eigen::Matrix2d estimated_covariance_2d_adj = + pclomp::adjust_diagonal_covariance(estimated_covariance_2d, ndt_result.pose, 0.0225, 0.0225); + ndt_covariance[0 + 6 * 0] = estimated_covariance_2d_adj(0, 0); + ndt_covariance[1 + 6 * 1] = estimated_covariance_2d_adj(1, 1); + ndt_covariance[1 + 6 * 0] = estimated_covariance_2d_adj(1, 0); + ndt_covariance[0 + 6 * 1] = estimated_covariance_2d_adj(0, 1); } // check distance_initial_to_result @@ -807,7 +814,7 @@ int NDTScanMatcher::count_oscillation( return max_oscillation_cnt; } -std::array NDTScanMatcher::estimate_covariance( +Eigen::Matrix2d NDTScanMatcher::estimate_covariance( const pclomp::NdtResult & ndt_result, const Eigen::Matrix4f & initial_pose_matrix, const rclcpp::Time & sensor_ros_time) { @@ -819,19 +826,9 @@ std::array NDTScanMatcher::estimate_covariance( std::stringstream message; message << "Error in Eigen solver: " << e.what(); RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); - - return param_.covariance.output_pose_covariance; + return Eigen::Matrix2d::Identity() * param_.covariance.output_pose_covariance[0 + 6 * 0]; } - // first result is added to mean - const int n = - static_cast(param_.covariance.covariance_estimation.initial_pose_offset_model.size()) + 1; - const Eigen::Vector2d ndt_pose_2d(ndt_result.pose(0, 3), ndt_result.pose(1, 3)); - Eigen::Vector2d mean = ndt_pose_2d; - std::vector ndt_pose_2d_vec; - ndt_pose_2d_vec.reserve(n); - ndt_pose_2d_vec.emplace_back(ndt_pose_2d); - geometry_msgs::msg::PoseArray multi_ndt_result_msg; geometry_msgs::msg::PoseArray multi_initial_pose_msg; multi_ndt_result_msg.header.stamp = sensor_ros_time; @@ -841,47 +838,45 @@ std::array NDTScanMatcher::estimate_covariance( multi_ndt_result_msg.poses.push_back(matrix4f_to_pose(ndt_result.pose)); multi_initial_pose_msg.poses.push_back(matrix4f_to_pose(initial_pose_matrix)); - // multiple searches - for (const auto & pose_offset : - param_.covariance.covariance_estimation.initial_pose_offset_model) { - const Eigen::Vector2d rotated_pose_offset_2d = rot * pose_offset; - - Eigen::Matrix4f sub_initial_pose_matrix(Eigen::Matrix4f::Identity()); - sub_initial_pose_matrix = ndt_result.pose; - sub_initial_pose_matrix(0, 3) += static_cast(rotated_pose_offset_2d.x()); - sub_initial_pose_matrix(1, 3) += static_cast(rotated_pose_offset_2d.y()); - - auto sub_output_cloud = std::make_shared>(); - ndt_ptr_->align(*sub_output_cloud, sub_initial_pose_matrix); - const Eigen::Matrix4f sub_ndt_result = ndt_ptr_->getResult().pose; - - const Eigen::Vector2d sub_ndt_pose_2d = sub_ndt_result.topRightCorner<2, 1>().cast(); - mean += sub_ndt_pose_2d; - ndt_pose_2d_vec.emplace_back(sub_ndt_pose_2d); - - multi_ndt_result_msg.poses.push_back(matrix4f_to_pose(sub_ndt_result)); - multi_initial_pose_msg.poses.push_back(matrix4f_to_pose(sub_initial_pose_matrix)); - } - - // calculate the covariance matrix - mean /= n; - Eigen::Matrix2d pca_covariance = Eigen::Matrix2d::Zero(); - for (const auto & temp_ndt_pose_2d : ndt_pose_2d_vec) { - const Eigen::Vector2d diff_2d = temp_ndt_pose_2d - mean; - pca_covariance += diff_2d * diff_2d.transpose(); + if ( + param_.covariance.covariance_estimation.covariance_estimation_type == + CovarianceEstimationType::LAPLACE_APPROXIMATION) { + return pclomp::estimate_xy_covariance_by_Laplace_approximation(ndt_result.hessian); + } else if ( + param_.covariance.covariance_estimation.covariance_estimation_type == + CovarianceEstimationType::MULTI_NDT) { + const std::vector poses_to_search = pclomp::propose_poses_to_search( + ndt_result, param_.covariance.covariance_estimation.initial_pose_offset_model_x, + param_.covariance.covariance_estimation.initial_pose_offset_model_y); + const pclomp::ResultOfMultiNdtCovarianceEstimation result_of_multi_ndt_covariance_estimation = + estimate_xy_covariance_by_multi_ndt(ndt_result, ndt_ptr_, poses_to_search); + for (size_t i = 0; i < result_of_multi_ndt_covariance_estimation.ndt_initial_poses.size(); + i++) { + multi_ndt_result_msg.poses.push_back( + matrix4f_to_pose(result_of_multi_ndt_covariance_estimation.ndt_results[i].pose)); + multi_initial_pose_msg.poses.push_back( + matrix4f_to_pose(result_of_multi_ndt_covariance_estimation.ndt_initial_poses[i])); + } + multi_ndt_pose_pub_->publish(multi_ndt_result_msg); + multi_initial_pose_pub_->publish(multi_initial_pose_msg); + return result_of_multi_ndt_covariance_estimation.covariance; + } else if ( + param_.covariance.covariance_estimation.covariance_estimation_type == + CovarianceEstimationType::MULTI_NDT_SCORE) { + const std::vector poses_to_search = pclomp::propose_poses_to_search( + ndt_result, param_.covariance.covariance_estimation.initial_pose_offset_model_x, + param_.covariance.covariance_estimation.initial_pose_offset_model_y); + const pclomp::ResultOfMultiNdtCovarianceEstimation + result_of_multi_ndt_score_covariance_estimation = estimate_xy_covariance_by_multi_ndt_score( + ndt_result, ndt_ptr_, poses_to_search, param_.covariance.covariance_estimation.temperature); + for (const auto & sub_initial_pose_matrix : poses_to_search) { + multi_initial_pose_msg.poses.push_back(matrix4f_to_pose(sub_initial_pose_matrix)); + } + multi_initial_pose_pub_->publish(multi_initial_pose_msg); + return result_of_multi_ndt_score_covariance_estimation.covariance; + } else { + return Eigen::Matrix2d::Identity() * param_.covariance.output_pose_covariance[0 + 6 * 0]; } - pca_covariance /= (n - 1); // unbiased covariance - - std::array ndt_covariance = param_.covariance.output_pose_covariance; - ndt_covariance[0 + 6 * 0] += pca_covariance(0, 0); - ndt_covariance[1 + 6 * 0] += pca_covariance(1, 0); - ndt_covariance[0 + 6 * 1] += pca_covariance(0, 1); - ndt_covariance[1 + 6 * 1] += pca_covariance(1, 1); - - multi_ndt_pose_pub_->publish(multi_ndt_result_msg); - multi_initial_pose_pub_->publish(multi_initial_pose_msg); - - return ndt_covariance; } void NDTScanMatcher::add_regularization_pose(const rclcpp::Time & sensor_ros_time) From 824c3036fe585ca8378b61daf6750e4988e3e68e Mon Sep 17 00:00:00 2001 From: Tao Zhong <55872497+tzhong518@users.noreply.github.com> Date: Fri, 5 Jul 2024 17:39:37 +0900 Subject: [PATCH 092/306] feat(pointpainting_fusion): add test for painting util (#7169) * add: unit test for inside bbox func Signed-off-by: tzhong518 * style(pre-commit): autofix * fix: correct param name Signed-off-by: tzhong518 * add: comment Signed-off-by: tzhong518 --------- Signed-off-by: tzhong518 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../CMakeLists.txt | 7 +++ .../pointpainting_fusion/node.hpp | 8 +++ .../src/pointpainting_fusion/node.cpp | 7 --- .../test/test_pointpainting_fusion.cpp | 56 +++++++++++++++++++ 4 files changed, 71 insertions(+), 7 deletions(-) create mode 100644 perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp diff --git a/perception/image_projection_based_fusion/CMakeLists.txt b/perception/image_projection_based_fusion/CMakeLists.txt index b6dfbaf402cc8..6be7defe422c3 100644 --- a/perception/image_projection_based_fusion/CMakeLists.txt +++ b/perception/image_projection_based_fusion/CMakeLists.txt @@ -172,6 +172,13 @@ if(BUILD_TESTING) ament_auto_add_gtest(test_geometry test/test_geometry.cpp ) + # test needed cuda, tensorRT and cudnn + if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) + ament_auto_add_gtest(test_pointpainting + test/test_pointpainting_fusion.cpp + ) + endif() + endif() ament_auto_package(INSTALL_TO_SHARE diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp index a4e6f315a36d6..756cb4224bc20 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp @@ -33,6 +33,14 @@ namespace image_projection_based_fusion { using Label = autoware_perception_msgs::msg::ObjectClassification; +inline bool isInsideBbox( + float proj_x, float proj_y, sensor_msgs::msg::RegionOfInterest roi, float zc) +{ + // z_c is scaling to normalize projection point + return proj_x >= roi.x_offset * zc && proj_x <= (roi.x_offset + roi.width) * zc && + proj_y >= roi.y_offset * zc && proj_y <= (roi.y_offset + roi.height) * zc; +} + class PointPaintingFusionNode : public FusionNode { diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp index a7c83ac7614a8..0f3a50628ccbc 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -45,13 +45,6 @@ Eigen::Affine3f _transformToEigen(const geometry_msgs::msg::Transform & t) namespace image_projection_based_fusion { -inline bool isInsideBbox( - float proj_x, float proj_y, sensor_msgs::msg::RegionOfInterest roi, float zc) -{ - return proj_x >= roi.x_offset * zc && proj_x <= (roi.x_offset + roi.width) * zc && - proj_y >= roi.y_offset * zc && proj_y <= (roi.y_offset + roi.height) * zc; -} - inline bool isVehicle(int label2d) { return label2d == autoware_perception_msgs::msg::ObjectClassification::CAR || diff --git a/perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp b/perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp new file mode 100644 index 0000000000000..1c69273667997 --- /dev/null +++ b/perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp @@ -0,0 +1,56 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include + +sensor_msgs::msg::RegionOfInterest createRoi( + const int32_t x_offset, const int32_t y_offset, const int32_t width, const int32_t height) +{ + sensor_msgs::msg::RegionOfInterest roi; + roi.x_offset = x_offset; + roi.y_offset = y_offset; + roi.width = width; + roi.height = height; + return roi; +} + +TEST(isInsideBboxTest, Inside) +{ + const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10); + bool result = image_projection_based_fusion::isInsideBbox(25.0, 25.0, roi, 1.0); + EXPECT_TRUE(result); +} + +TEST(isInsideBboxTest, Border) +{ + const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10); + bool result = image_projection_based_fusion::isInsideBbox(20.0, 30.0, roi, 1.0); + EXPECT_TRUE(result); +} + +TEST(isInsideBboxTest, Outside) +{ + const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10); + bool result = image_projection_based_fusion::isInsideBbox(15.0, 15.0, roi, 1.0); + EXPECT_FALSE(result); +} + +TEST(isInsideBboxTest, Zero) +{ + const sensor_msgs::msg::RegionOfInterest roi = createRoi(0, 0, 0, 0); + bool result = image_projection_based_fusion::isInsideBbox(0.0, 0.0, roi, 1.0); + EXPECT_TRUE(result); +} From acf800120b0e815cb48bf5e2f9a9f8f2b2901a11 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 5 Jul 2024 18:30:35 +0900 Subject: [PATCH 093/306] refactor(shape_estimation)!: fix namespace and directory structure (#7844) * chore: Update shape_estimation library and node names refactor: relocate headers refactor: add namespace refactor: update shape_estimation namespace on the user side Signed-off-by: Taekjin LEE * refactor: update namespace of the node refactor: update namespace of the node refactor: update namespace and directory structure for detection_by_tracker node Signed-off-by: Taekjin LEE * refactor: update namespace and directory structure for detection_by_tracker node Signed-off-by: Taekjin LEE * Update perception/detection_by_tracker/src/tracker/tracker_handler.hpp Co-authored-by: Yoshi Ri Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE Co-authored-by: Yoshi Ri --- .../detection_by_tracker/CMakeLists.txt | 14 +-- .../src/debugger/debugger.hpp | 2 - .../src/detection_by_tracker_node.cpp | 77 ++-------------- .../src/detection_by_tracker_node.hpp | 21 +---- .../src/tracker/tracker_handler.cpp | 88 +++++++++++++++++++ .../utils.cpp => tracker/tracker_handler.hpp} | 35 +++++--- .../detection_by_tracker/src/utils/utils.hpp | 15 +++- perception/shape_estimation/CMakeLists.txt | 26 +++--- perception/shape_estimation/README.md | 2 +- .../corrector/bicycle_corrector.hpp | 16 +++- .../corrector/bus_corrector.hpp | 16 ++-- .../corrector/car_corrector.hpp | 16 +++- .../shape_estimation/corrector/corrector.hpp | 27 ++++++ .../corrector/corrector_interface.hpp | 14 ++- .../corrector/no_corrector.hpp | 22 +++-- .../reference_shape_size_corrector.hpp | 17 ++-- .../corrector/trailer_corrector.hpp | 16 +++- .../corrector/truck_corrector.hpp | 16 +++- .../shape_estimation/corrector/utils.hpp | 13 ++- .../corrector/vehicle_corrector.hpp | 18 ++-- .../shape_estimation/filter/bus_filter.hpp | 15 +++- .../shape_estimation/filter/car_filter.hpp | 15 +++- .../shape_estimation/filter/filter.hpp | 25 ++++++ .../filter/filter_interface.hpp | 14 ++- .../shape_estimation/filter/no_filter.hpp | 23 +++-- .../filter/trailer_filter.hpp | 14 ++- .../shape_estimation/filter/truck_filter.hpp | 15 ++-- .../shape_estimation/filter/utils.hpp | 10 ++- .../shape_estimation/model/bounding_box.hpp | 18 ++-- .../shape_estimation/model/convex_hull.hpp | 16 +++- .../shape_estimation/model/cylinder.hpp | 16 +++- .../shape_estimation/model/model.hpp | 14 +-- .../model/model_interface.hpp | 14 ++- .../shape_estimation/shape_estimator.hpp | 10 ++- .../shape_estimation/corrector/corrector.hpp | 27 ------ .../shape_estimation/filter/filter.hpp | 25 ------ .../launch/shape_estimation.launch.xml | 2 +- .../lib/corrector/no_corrector.cpp | 9 +- .../shape_estimation/lib/corrector/utils.cpp | 16 ++-- .../lib/filter/bus_filter.cpp | 10 ++- .../lib/filter/car_filter.cpp | 9 +- .../shape_estimation/lib/filter/no_filter.cpp | 9 +- .../lib/filter/trailer_filter.cpp | 10 ++- .../lib/filter/truck_filter.cpp | 10 ++- .../shape_estimation/lib/filter/utils.cpp | 6 +- .../lib/model/bounding_box.cpp | 18 ++-- .../lib/model/convex_hull.cpp | 10 ++- .../shape_estimation/lib/model/cylinder.cpp | 10 ++- .../shape_estimation/lib/shape_estimator.cpp | 50 ++++++----- .../{node.cpp => shape_estimation_node.cpp} | 14 +-- .../{node.hpp => shape_estimation_node.hpp} | 12 ++- .../shape_estimation/test_shape_estimator.cpp | 34 +++---- 52 files changed, 609 insertions(+), 362 deletions(-) create mode 100644 perception/detection_by_tracker/src/tracker/tracker_handler.cpp rename perception/detection_by_tracker/src/{utils/utils.cpp => tracker/tracker_handler.hpp} (50%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/bicycle_corrector.hpp (74%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/bus_corrector.hpp (73%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/car_corrector.hpp (74%) create mode 100644 perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/corrector_interface.hpp (73%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/no_corrector.hpp (58%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/reference_shape_size_corrector.hpp (70%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/trailer_corrector.hpp (77%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/truck_corrector.hpp (74%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/utils.hpp (82%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/corrector/vehicle_corrector.hpp (75%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/filter/bus_filter.hpp (70%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/filter/car_filter.hpp (70%) create mode 100644 perception/shape_estimation/include/autoware/shape_estimation/filter/filter.hpp rename perception/shape_estimation/include/{ => autoware}/shape_estimation/filter/filter_interface.hpp (75%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/filter/no_filter.hpp (58%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/filter/trailer_filter.hpp (70%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/filter/truck_filter.hpp (70%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/filter/utils.hpp (77%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/model/bounding_box.hpp (80%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/model/convex_hull.hpp (71%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/model/cylinder.hpp (74%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/model/model.hpp (60%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/model/model_interface.hpp (78%) rename perception/shape_estimation/include/{ => autoware}/shape_estimation/shape_estimator.hpp (90%) delete mode 100644 perception/shape_estimation/include/shape_estimation/corrector/corrector.hpp delete mode 100644 perception/shape_estimation/include/shape_estimation/filter/filter.hpp rename perception/shape_estimation/src/{node.cpp => shape_estimation_node.cpp} (93%) rename perception/shape_estimation/src/{node.hpp => shape_estimation_node.hpp} (88%) diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/detection_by_tracker/CMakeLists.txt index 112187551d924..c019b2be77587 100644 --- a/perception/detection_by_tracker/CMakeLists.txt +++ b/perception/detection_by_tracker/CMakeLists.txt @@ -17,21 +17,15 @@ find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) include_directories( - include SYSTEM ${EIGEN3_INCLUDE_DIRS} ${PCL_COMMON_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) -# Generate exe file -set(DETECTION_BY_TRACKER_SRC - src/detection_by_tracker_node.cpp - src/utils/utils.cpp -) - ament_auto_add_library(${PROJECT_NAME} SHARED - ${DETECTION_BY_TRACKER_SRC} + src/detection_by_tracker_node.cpp + src/tracker/tracker_handler.cpp ) target_link_libraries(${PROJECT_NAME} @@ -43,9 +37,7 @@ rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "autoware::detection_by_tracker::DetectionByTracker" EXECUTABLE detection_by_tracker_node ) - -ament_auto_package( - INSTALL_TO_SHARE +ament_auto_package(INSTALL_TO_SHARE launch config ) diff --git a/perception/detection_by_tracker/src/debugger/debugger.hpp b/perception/detection_by_tracker/src/debugger/debugger.hpp index 242056c3ca316..56f37fb10043d 100644 --- a/perception/detection_by_tracker/src/debugger/debugger.hpp +++ b/perception/detection_by_tracker/src/debugger/debugger.hpp @@ -20,7 +20,6 @@ #include "euclidean_cluster/euclidean_cluster.hpp" #include "euclidean_cluster/utils.hpp" #include "euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" -#include "shape_estimation/shape_estimator.hpp" #include @@ -46,7 +45,6 @@ #include #include #include - namespace autoware::detection_by_tracker { class Debugger diff --git a/perception/detection_by_tracker/src/detection_by_tracker_node.cpp b/perception/detection_by_tracker/src/detection_by_tracker_node.cpp index c41d6002d9266..c22d015aa11a4 100644 --- a/perception/detection_by_tracker/src/detection_by_tracker_node.cpp +++ b/perception/detection_by_tracker/src/detection_by_tracker_node.cpp @@ -56,24 +56,26 @@ autoware_perception_msgs::msg::Shape extendShape( return output; } -boost::optional getReferenceYawInfo(const uint8_t label, const float yaw) +boost::optional getReferenceYawInfo( + const uint8_t label, const float yaw) { const bool is_vehicle = Label::CAR == label || Label::TRUCK == label || Label::BUS == label || Label::TRAILER == label; if (is_vehicle) { - return ReferenceYawInfo{yaw, autoware::universe_utils::deg2rad(30)}; + return autoware::shape_estimation::ReferenceYawInfo{yaw, autoware::universe_utils::deg2rad(30)}; } else { return boost::none; } } -boost::optional getReferenceShapeSizeInfo( +boost::optional getReferenceShapeSizeInfo( const uint8_t label, const autoware_perception_msgs::msg::Shape & shape) { const bool is_vehicle = Label::CAR == label || Label::TRUCK == label || Label::BUS == label || Label::TRAILER == label; if (is_vehicle) { - return ReferenceShapeSizeInfo{shape, ReferenceShapeSizeInfo::Mode::Min}; + return autoware::shape_estimation::ReferenceShapeSizeInfo{ + shape, autoware::shape_estimation::ReferenceShapeSizeInfo::Mode::Min}; } else { return boost::none; } @@ -83,70 +85,6 @@ boost::optional getReferenceShapeSizeInfo( namespace autoware::detection_by_tracker { -void TrackerHandler::onTrackedObjects( - const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr msg) -{ - constexpr size_t max_buffer_size = 10; - - // Add tracked objects to buffer - objects_buffer_.push_front(*msg); - - // Remove old data - while (max_buffer_size < objects_buffer_.size()) { - objects_buffer_.pop_back(); - } -} - -bool TrackerHandler::estimateTrackedObjects( - const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObjects & output) -{ - if (objects_buffer_.empty()) { - return false; - } - - // Get the objects closest to the target time. - const auto target_objects_iter = std::min_element( - objects_buffer_.cbegin(), objects_buffer_.cend(), - [&time]( - autoware_perception_msgs::msg::TrackedObjects first, - autoware_perception_msgs::msg::TrackedObjects second) { - return std::fabs((time - first.header.stamp).seconds()) < - std::fabs((time - second.header.stamp).seconds()); - }); - - // Estimate the pose of the object at the target time - const auto dt = time - target_objects_iter->header.stamp; - output.header.frame_id = target_objects_iter->header.frame_id; - output.header.stamp = time; - for (const auto & object : target_objects_iter->objects) { - const auto & pose_with_covariance = object.kinematics.pose_with_covariance; - const auto & x = pose_with_covariance.pose.position.x; - const auto & y = pose_with_covariance.pose.position.y; - const auto & z = pose_with_covariance.pose.position.z; - const float yaw = tf2::getYaw(pose_with_covariance.pose.orientation); - const auto & twist = object.kinematics.twist_with_covariance.twist; - const float & vx = twist.linear.x; - const float & wz = twist.angular.z; - - // build output - autoware_perception_msgs::msg::TrackedObject estimated_object; - estimated_object.object_id = object.object_id; - estimated_object.existence_probability = object.existence_probability; - estimated_object.classification = object.classification; - estimated_object.shape = object.shape; - estimated_object.kinematics.pose_with_covariance.pose.position.x = - x + vx * std::cos(yaw) * dt.seconds(); - estimated_object.kinematics.pose_with_covariance.pose.position.y = - y + vx * std::sin(yaw) * dt.seconds(); - estimated_object.kinematics.pose_with_covariance.pose.position.z = z; - const float yaw_hat = autoware::universe_utils::normalizeRadian(yaw + wz * dt.seconds()); - estimated_object.kinematics.pose_with_covariance.pose.orientation = - autoware::universe_utils::createQuaternionFromYaw(yaw_hat); - output.objects.push_back(estimated_object); - } - return true; -} - DetectionByTracker::DetectionByTracker(const rclcpp::NodeOptions & node_options) : rclcpp::Node("detection_by_tracker", node_options), tf_buffer_(this->get_clock()), @@ -176,7 +114,7 @@ DetectionByTracker::DetectionByTracker(const rclcpp::NodeOptions & node_options) // set maximum search setting for merger/divider setMaxSearchRange(); - shape_estimator_ = std::make_shared(true, true); + shape_estimator_ = std::make_shared(true, true); cluster_ = std::make_shared( false, 10, 10000, 0.7, 0.3, 0); debugger_ = std::make_shared(this); @@ -468,7 +406,6 @@ void DetectionByTracker::mergeOverSegmentedObjects( out_objects.feature_objects.push_back(feature_object); } } - } // namespace autoware::detection_by_tracker #include diff --git a/perception/detection_by_tracker/src/detection_by_tracker_node.hpp b/perception/detection_by_tracker/src/detection_by_tracker_node.hpp index 4e58d53fa71aa..095708fb4b51f 100644 --- a/perception/detection_by_tracker/src/detection_by_tracker_node.hpp +++ b/perception/detection_by_tracker/src/detection_by_tracker_node.hpp @@ -15,12 +15,13 @@ #ifndef DETECTION_BY_TRACKER_NODE_HPP_ #define DETECTION_BY_TRACKER_NODE_HPP_ +#include "autoware/shape_estimation/shape_estimator.hpp" #include "autoware/universe_utils/ros/published_time_publisher.hpp" #include "debugger/debugger.hpp" #include "euclidean_cluster/euclidean_cluster.hpp" #include "euclidean_cluster/utils.hpp" #include "euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" -#include "shape_estimation/shape_estimator.hpp" +#include "tracker/tracker_handler.hpp" #include "utils/utils.hpp" #include @@ -52,19 +53,6 @@ namespace autoware::detection_by_tracker { -class TrackerHandler -{ -private: - std::deque objects_buffer_; - -public: - TrackerHandler() = default; - void onTrackedObjects( - const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr input_objects_msg); - bool estimateTrackedObjects( - const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObjects & output); -}; - class DetectionByTracker : public rclcpp::Node { public: @@ -80,13 +68,13 @@ class DetectionByTracker : public rclcpp::Node tf2_ros::TransformListener tf_listener_; TrackerHandler tracker_handler_; - std::shared_ptr shape_estimator_; + std::shared_ptr shape_estimator_; std::shared_ptr cluster_; std::shared_ptr debugger_; std::map max_search_distance_for_merger_; std::map max_search_distance_for_divider_; - utils::TrackerIgnoreLabel tracker_ignore_; + detection_by_tracker::utils::TrackerIgnoreLabel tracker_ignore_; std::unique_ptr published_time_publisher_; @@ -112,7 +100,6 @@ class DetectionByTracker : public rclcpp::Node autoware_perception_msgs::msg::DetectedObjects & out_no_found_tracked_objects, tier4_perception_msgs::msg::DetectedObjectsWithFeature & out_objects); }; - } // namespace autoware::detection_by_tracker #endif // DETECTION_BY_TRACKER_NODE_HPP_ diff --git a/perception/detection_by_tracker/src/tracker/tracker_handler.cpp b/perception/detection_by_tracker/src/tracker/tracker_handler.cpp new file mode 100644 index 0000000000000..a099c8b1ba55d --- /dev/null +++ b/perception/detection_by_tracker/src/tracker/tracker_handler.cpp @@ -0,0 +1,88 @@ +// Copyright 2021 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "tracker_handler.hpp" + +#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/math/normalization.hpp" + +#include + +namespace autoware::detection_by_tracker +{ + +void TrackerHandler::onTrackedObjects( + const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr msg) +{ + constexpr size_t max_buffer_size = 10; + + // Add tracked objects to buffer + objects_buffer_.push_front(*msg); + + // Remove old data + while (max_buffer_size < objects_buffer_.size()) { + objects_buffer_.pop_back(); + } +} + +bool TrackerHandler::estimateTrackedObjects( + const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObjects & output) +{ + if (objects_buffer_.empty()) { + return false; + } + + // Get the objects closest to the target time. + const auto target_objects_iter = std::min_element( + objects_buffer_.cbegin(), objects_buffer_.cend(), + [&time]( + autoware_perception_msgs::msg::TrackedObjects first, + autoware_perception_msgs::msg::TrackedObjects second) { + return std::fabs((time - first.header.stamp).seconds()) < + std::fabs((time - second.header.stamp).seconds()); + }); + + // Estimate the pose of the object at the target time + const auto dt = time - target_objects_iter->header.stamp; + output.header.frame_id = target_objects_iter->header.frame_id; + output.header.stamp = time; + for (const auto & object : target_objects_iter->objects) { + const auto & pose_with_covariance = object.kinematics.pose_with_covariance; + const auto & x = pose_with_covariance.pose.position.x; + const auto & y = pose_with_covariance.pose.position.y; + const auto & z = pose_with_covariance.pose.position.z; + const float yaw = tf2::getYaw(pose_with_covariance.pose.orientation); + const auto & twist = object.kinematics.twist_with_covariance.twist; + const float & vx = twist.linear.x; + const float & wz = twist.angular.z; + + // build output + autoware_perception_msgs::msg::TrackedObject estimated_object; + estimated_object.object_id = object.object_id; + estimated_object.existence_probability = object.existence_probability; + estimated_object.classification = object.classification; + estimated_object.shape = object.shape; + estimated_object.kinematics.pose_with_covariance.pose.position.x = + x + vx * std::cos(yaw) * dt.seconds(); + estimated_object.kinematics.pose_with_covariance.pose.position.y = + y + vx * std::sin(yaw) * dt.seconds(); + estimated_object.kinematics.pose_with_covariance.pose.position.z = z; + const float yaw_hat = autoware::universe_utils::normalizeRadian(yaw + wz * dt.seconds()); + estimated_object.kinematics.pose_with_covariance.pose.orientation = + autoware::universe_utils::createQuaternionFromYaw(yaw_hat); + output.objects.push_back(estimated_object); + } + return true; +} +} // namespace autoware::detection_by_tracker diff --git a/perception/detection_by_tracker/src/utils/utils.cpp b/perception/detection_by_tracker/src/tracker/tracker_handler.hpp similarity index 50% rename from perception/detection_by_tracker/src/utils/utils.cpp rename to perception/detection_by_tracker/src/tracker/tracker_handler.hpp index b269d703be7d4..13aa00aaf0c4c 100644 --- a/perception/detection_by_tracker/src/utils/utils.cpp +++ b/perception/detection_by_tracker/src/tracker/tracker_handler.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,22 +12,31 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "utils.hpp" +#ifndef TRACKER__TRACKER_HANDLER_HPP_ +#define TRACKER__TRACKER_HANDLER_HPP_ -#include +#include + +#include "autoware_perception_msgs/msg/tracked_objects.hpp" + +#include namespace autoware::detection_by_tracker { -namespace utils -{ -using Label = autoware_perception_msgs::msg::ObjectClassification; -bool TrackerIgnoreLabel::isIgnore(const uint8_t label) const +class TrackerHandler { - return (label == Label::UNKNOWN && UNKNOWN) || (label == Label::CAR && CAR) || - (label == Label::TRUCK && TRUCK) || (label == Label::BUS && BUS) || - (label == Label::TRAILER && TRAILER) || (label == Label::MOTORCYCLE && MOTORCYCLE) || - (label == Label::BICYCLE && BICYCLE) || (label == Label::PEDESTRIAN && PEDESTRIAN); -} -} // namespace utils +private: + std::deque objects_buffer_; + +public: + TrackerHandler() = default; + void onTrackedObjects( + const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr input_objects_msg); + bool estimateTrackedObjects( + const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObjects & output); +}; + } // namespace autoware::detection_by_tracker + +#endif // TRACKER__TRACKER_HANDLER_HPP_ diff --git a/perception/detection_by_tracker/src/utils/utils.hpp b/perception/detection_by_tracker/src/utils/utils.hpp index b7041124fa931..cc29164e4aad9 100644 --- a/perception/detection_by_tracker/src/utils/utils.hpp +++ b/perception/detection_by_tracker/src/utils/utils.hpp @@ -15,12 +15,16 @@ #ifndef UTILS__UTILS_HPP_ #define UTILS__UTILS_HPP_ +#include "autoware_perception_msgs/msg/object_classification.hpp" + #include namespace autoware::detection_by_tracker { namespace utils { +using Label = autoware_perception_msgs::msg::ObjectClassification; + struct TrackerIgnoreLabel { bool UNKNOWN; @@ -31,8 +35,15 @@ struct TrackerIgnoreLabel bool MOTORCYCLE; bool BICYCLE; bool PEDESTRIAN; - bool isIgnore(const uint8_t label) const; -}; // struct TrackerIgnoreLabel + bool isIgnore(const uint8_t label) const + { + return (label == Label::UNKNOWN && UNKNOWN) || (label == Label::CAR && CAR) || + (label == Label::TRUCK && TRUCK) || (label == Label::BUS && BUS) || + (label == Label::TRAILER && TRAILER) || (label == Label::MOTORCYCLE && MOTORCYCLE) || + (label == Label::BICYCLE && BICYCLE) || (label == Label::PEDESTRIAN && PEDESTRIAN); + } +}; + } // namespace utils } // namespace autoware::detection_by_tracker diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/shape_estimation/CMakeLists.txt index 527c565b91e05..21517f8c0f766 100644 --- a/perception/shape_estimation/CMakeLists.txt +++ b/perception/shape_estimation/CMakeLists.txt @@ -16,7 +16,7 @@ set(SHAPE_ESTIMATION_DEPENDENCIES Eigen3 ) -ament_auto_add_library(shape_estimation_lib SHARED +ament_auto_add_library(${PROJECT_NAME}_lib SHARED lib/shape_estimator.cpp lib/model/bounding_box.cpp lib/model/convex_hull.cpp @@ -27,23 +27,23 @@ ament_auto_add_library(shape_estimation_lib SHARED lib/filter/trailer_filter.cpp lib/filter/no_filter.cpp lib/filter/utils.cpp - lib/corrector/no_corrector.cpp lib/corrector/utils.cpp + lib/corrector/no_corrector.cpp ) -ament_target_dependencies(shape_estimation_lib ${SHAPE_ESTIMATION_DEPENDENCIES}) +ament_target_dependencies(${PROJECT_NAME}_lib ${SHAPE_ESTIMATION_DEPENDENCIES}) -target_include_directories(shape_estimation_lib +target_include_directories(${PROJECT_NAME}_lib SYSTEM PUBLIC "${PCL_INCLUDE_DIRS}" "${EIGEN3_INCLUDE_DIR}" ) -ament_auto_add_library(shape_estimation_node SHARED - src/node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/shape_estimation_node.cpp ) -target_include_directories(shape_estimation_node +target_include_directories(${PROJECT_NAME} PUBLIC $ $ @@ -51,15 +51,15 @@ target_include_directories(shape_estimation_node ${CMAKE_CURRENT_SOURCE_DIR}/src ) -ament_target_dependencies(shape_estimation_node ${SHAPE_ESTIMATION_DEPENDENCIES}) +ament_target_dependencies(${PROJECT_NAME} ${SHAPE_ESTIMATION_DEPENDENCIES}) -target_link_libraries(shape_estimation_node +target_link_libraries(${PROJECT_NAME} shape_estimation_lib ) -rclcpp_components_register_node(shape_estimation_node - PLUGIN "ShapeEstimationNode" - EXECUTABLE shape_estimation +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::shape_estimation::ShapeEstimationNode" + EXECUTABLE shape_estimation_node ) ament_auto_package(INSTALL_TO_SHARE @@ -79,6 +79,6 @@ if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_shape_estimation ${test_files}) target_link_libraries(test_shape_estimation - shape_estimation_node + ${PROJECT_NAME} ) endif() diff --git a/perception/shape_estimation/README.md b/perception/shape_estimation/README.md index 206e8d422c727..9615b314f62c6 100644 --- a/perception/shape_estimation/README.md +++ b/perception/shape_estimation/README.md @@ -36,7 +36,7 @@ This node calculates a refined object shape (bounding box, cylinder, convex hull ## Parameters -{{ json_to_markdown("perception/shape_estimation/schema/shape_estimation.schema.json") }} +{{ json_to_markdown("perception/autoware/shape_estimation/schema/shape_estimation.schema.json") }} ## Assumptions / Known limits diff --git a/perception/shape_estimation/include/shape_estimation/corrector/bicycle_corrector.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp similarity index 74% rename from perception/shape_estimation/include/shape_estimation/corrector/bicycle_corrector.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp index ec1a2b8a42973..f8dc489a563be 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/bicycle_corrector.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp @@ -12,12 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__BICYCLE_CORRECTOR_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__BICYCLE_CORRECTOR_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__BICYCLE_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__BICYCLE_CORRECTOR_HPP_ -#include "shape_estimation/corrector/vehicle_corrector.hpp" +#include "autoware/shape_estimation/corrector/vehicle_corrector.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace corrector +{ + class BicycleCorrector : public VehicleCorrector { public: @@ -37,4 +42,7 @@ class BicycleCorrector : public VehicleCorrector ~BicycleCorrector() = default; }; -#endif // SHAPE_ESTIMATION__CORRECTOR__BICYCLE_CORRECTOR_HPP_ +} // namespace corrector +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__BICYCLE_CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/bus_corrector.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp similarity index 73% rename from perception/shape_estimation/include/shape_estimation/corrector/bus_corrector.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp index 4ef1f00122ca4..d7386ace5b364 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/bus_corrector.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__BUS_CORRECTOR_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__BUS_CORRECTOR_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__BUS_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__BUS_CORRECTOR_HPP_ -#include "shape_estimation/corrector/vehicle_corrector.hpp" +#include "autoware/shape_estimation/corrector/vehicle_corrector.hpp" #include "utils.hpp" - +namespace autoware::shape_estimation +{ +namespace corrector +{ class BusCorrector : public VehicleCorrector { public: @@ -36,4 +39,7 @@ class BusCorrector : public VehicleCorrector ~BusCorrector() = default; }; -#endif // SHAPE_ESTIMATION__CORRECTOR__BUS_CORRECTOR_HPP_ +} // namespace corrector +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__BUS_CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/car_corrector.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp similarity index 74% rename from perception/shape_estimation/include/shape_estimation/corrector/car_corrector.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp index d4d33599c7730..7292704d0f6d9 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/car_corrector.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp @@ -12,12 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__CAR_CORRECTOR_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__CAR_CORRECTOR_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__CAR_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__CAR_CORRECTOR_HPP_ -#include "shape_estimation/corrector/vehicle_corrector.hpp" +#include "autoware/shape_estimation/corrector/vehicle_corrector.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace corrector +{ + class CarCorrector : public VehicleCorrector { public: @@ -36,4 +41,7 @@ class CarCorrector : public VehicleCorrector ~CarCorrector() = default; }; -#endif // SHAPE_ESTIMATION__CORRECTOR__CAR_CORRECTOR_HPP_ +} // namespace corrector +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__CAR_CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp new file mode 100644 index 0000000000000..dd4c4f68d3f46 --- /dev/null +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp @@ -0,0 +1,27 @@ +// Copyright 2018 Autoware Foundation. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_HPP_ + +#include "autoware/shape_estimation/corrector/bicycle_corrector.hpp" +#include "autoware/shape_estimation/corrector/bus_corrector.hpp" +#include "autoware/shape_estimation/corrector/car_corrector.hpp" +#include "autoware/shape_estimation/corrector/corrector_interface.hpp" +#include "autoware/shape_estimation/corrector/no_corrector.hpp" +#include "autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp" +#include "autoware/shape_estimation/corrector/trailer_corrector.hpp" +#include "autoware/shape_estimation/corrector/truck_corrector.hpp" + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/corrector_interface.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp similarity index 73% rename from perception/shape_estimation/include/shape_estimation/corrector/corrector_interface.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp index 1ce1273f042b9..1dcf85b46887c 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/corrector_interface.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp @@ -12,14 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_INTERFACE_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_INTERFACE_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_INTERFACE_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_INTERFACE_HPP_ #include #include #include - +namespace autoware::shape_estimation +{ +namespace corrector +{ class ShapeEstimationCorrectorInterface { public: @@ -31,4 +34,7 @@ class ShapeEstimationCorrectorInterface autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) = 0; }; -#endif // SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_INTERFACE_HPP_ +} // namespace corrector +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_INTERFACE_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/no_corrector.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp similarity index 58% rename from perception/shape_estimation/include/shape_estimation/corrector/no_corrector.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp index 1303f6f859191..e3c33100861a0 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/no_corrector.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp @@ -12,12 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__NO_CORRECTOR_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__NO_CORRECTOR_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__NO_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__NO_CORRECTOR_HPP_ -#include "shape_estimation/corrector/corrector_interface.hpp" +#include "autoware/shape_estimation/corrector/corrector_interface.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace corrector +{ + class NoCorrector : public ShapeEstimationCorrectorInterface { public: @@ -26,7 +31,14 @@ class NoCorrector : public ShapeEstimationCorrectorInterface ~NoCorrector() {} bool correct( - autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) override; + [[maybe_unused]] autoware_perception_msgs::msg::Shape & shape, + [[maybe_unused]] geometry_msgs::msg::Pose & pose) override + { + return true; + } }; -#endif // SHAPE_ESTIMATION__CORRECTOR__NO_CORRECTOR_HPP_ +} // namespace corrector +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__NO_CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/reference_shape_size_corrector.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp similarity index 70% rename from perception/shape_estimation/include/shape_estimation/corrector/reference_shape_size_corrector.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp index 0d1740dc30d61..a05027a3348b6 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/reference_shape_size_corrector.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp @@ -12,13 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__REFERENCE_SHAPE_SIZE_CORRECTOR_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__REFERENCE_SHAPE_SIZE_CORRECTOR_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__REFERENCE_SHAPE_SIZE_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__REFERENCE_SHAPE_SIZE_CORRECTOR_HPP_ -#include "shape_estimation/corrector/corrector_interface.hpp" -#include "shape_estimation/shape_estimator.hpp" +#include "autoware/shape_estimation/corrector/corrector_interface.hpp" +#include "autoware/shape_estimation/shape_estimator.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace corrector +{ + class ReferenceShapeBasedVehicleCorrector : public ShapeEstimationCorrectorInterface { ReferenceShapeSizeInfo ref_shape_size_info_; @@ -38,4 +43,6 @@ class ReferenceShapeBasedVehicleCorrector : public ShapeEstimationCorrectorInter } }; -#endif // SHAPE_ESTIMATION__CORRECTOR__REFERENCE_SHAPE_SIZE_CORRECTOR_HPP_ +} // namespace corrector +} // namespace autoware::shape_estimation +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__REFERENCE_SHAPE_SIZE_CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/trailer_corrector.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp similarity index 77% rename from perception/shape_estimation/include/shape_estimation/corrector/trailer_corrector.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp index 6dd885353c78f..afd0f1f7c451d 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/trailer_corrector.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp @@ -12,12 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__TRAILER_CORRECTOR_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__TRAILER_CORRECTOR_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__TRAILER_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__TRAILER_CORRECTOR_HPP_ -#include "shape_estimation/corrector/vehicle_corrector.hpp" +#include "autoware/shape_estimation/corrector/vehicle_corrector.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace corrector +{ + // Generally speaking, trailer would be much larger than bus and truck. // But currently we do not make large differences among bus/truck/trailer // because current our vehicle classification is not reliable enough. @@ -40,4 +45,7 @@ class TrailerCorrector : public VehicleCorrector ~TrailerCorrector() = default; }; -#endif // SHAPE_ESTIMATION__CORRECTOR__TRAILER_CORRECTOR_HPP_ +} // namespace corrector +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__TRAILER_CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/truck_corrector.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp similarity index 74% rename from perception/shape_estimation/include/shape_estimation/corrector/truck_corrector.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp index 3b2475286fa61..8a641e84176a5 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/truck_corrector.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp @@ -12,12 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__TRUCK_CORRECTOR_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__TRUCK_CORRECTOR_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__TRUCK_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__TRUCK_CORRECTOR_HPP_ -#include "shape_estimation/corrector/vehicle_corrector.hpp" +#include "autoware/shape_estimation/corrector/vehicle_corrector.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace corrector +{ + class TruckCorrector : public VehicleCorrector { public: @@ -37,4 +42,7 @@ class TruckCorrector : public VehicleCorrector ~TruckCorrector() = default; }; -#endif // SHAPE_ESTIMATION__CORRECTOR__TRUCK_CORRECTOR_HPP_ +} // namespace corrector +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__TRUCK_CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/utils.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp similarity index 82% rename from perception/shape_estimation/include/shape_estimation/corrector/utils.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp index 951f3d16aa278..a16cb146ca4a3 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/utils.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp @@ -12,14 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__UTILS_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__UTILS_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__UTILS_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__UTILS_HPP_ -#include "shape_estimation/shape_estimator.hpp" +#include "autoware/shape_estimation/shape_estimator.hpp" #include #include +namespace autoware::shape_estimation +{ + namespace corrector_utils { struct CorrectionBBParameters @@ -46,4 +49,6 @@ bool correctWithReferenceYaw( } // namespace corrector_utils -#endif // SHAPE_ESTIMATION__CORRECTOR__UTILS_HPP_ +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__UTILS_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/vehicle_corrector.hpp b/perception/shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp similarity index 75% rename from perception/shape_estimation/include/shape_estimation/corrector/vehicle_corrector.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp index 1b38f15620663..e1b292eb5318a 100644 --- a/perception/shape_estimation/include/shape_estimation/corrector/vehicle_corrector.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp @@ -12,13 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__CORRECTOR__VEHICLE_CORRECTOR_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__VEHICLE_CORRECTOR_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__VEHICLE_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__VEHICLE_CORRECTOR_HPP_ -#include "shape_estimation/corrector/corrector_interface.hpp" -#include "shape_estimation/shape_estimator.hpp" +#include "autoware/shape_estimation/corrector/corrector_interface.hpp" +#include "autoware/shape_estimation/shape_estimator.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace corrector +{ + class VehicleCorrector : public ShapeEstimationCorrectorInterface { protected: @@ -47,4 +52,7 @@ class VehicleCorrector : public ShapeEstimationCorrectorInterface void setParams(const corrector_utils::CorrectionBBParameters & params) { params_ = params; } }; -#endif // SHAPE_ESTIMATION__CORRECTOR__VEHICLE_CORRECTOR_HPP_ +} // namespace corrector +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__VEHICLE_CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/filter/bus_filter.hpp b/perception/shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp similarity index 70% rename from perception/shape_estimation/include/shape_estimation/filter/bus_filter.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp index 301921b00d439..54d45498a3d40 100644 --- a/perception/shape_estimation/include/shape_estimation/filter/bus_filter.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp @@ -12,12 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__FILTER__BUS_FILTER_HPP_ -#define SHAPE_ESTIMATION__FILTER__BUS_FILTER_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__FILTER__BUS_FILTER_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__FILTER__BUS_FILTER_HPP_ -#include "shape_estimation/filter/filter_interface.hpp" +#include "autoware/shape_estimation/filter/filter_interface.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace filter +{ class BusFilter : public ShapeEstimationFilterInterface { public: @@ -30,4 +34,7 @@ class BusFilter : public ShapeEstimationFilterInterface const geometry_msgs::msg::Pose & pose_output) override; }; -#endif // SHAPE_ESTIMATION__FILTER__BUS_FILTER_HPP_ +} // namespace filter +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__FILTER__BUS_FILTER_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/filter/car_filter.hpp b/perception/shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp similarity index 70% rename from perception/shape_estimation/include/shape_estimation/filter/car_filter.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp index 79104823bb7ab..8ff79f901d8a3 100644 --- a/perception/shape_estimation/include/shape_estimation/filter/car_filter.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp @@ -12,12 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__FILTER__CAR_FILTER_HPP_ -#define SHAPE_ESTIMATION__FILTER__CAR_FILTER_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__FILTER__CAR_FILTER_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__FILTER__CAR_FILTER_HPP_ -#include "shape_estimation/filter/filter_interface.hpp" +#include "autoware/shape_estimation/filter/filter_interface.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace filter +{ class CarFilter : public ShapeEstimationFilterInterface { public: @@ -30,4 +34,7 @@ class CarFilter : public ShapeEstimationFilterInterface const geometry_msgs::msg::Pose & pose) override; }; -#endif // SHAPE_ESTIMATION__FILTER__CAR_FILTER_HPP_ +} // namespace filter +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__FILTER__CAR_FILTER_HPP_ diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/filter.hpp b/perception/shape_estimation/include/autoware/shape_estimation/filter/filter.hpp new file mode 100644 index 0000000000000..5b7bad4f57208 --- /dev/null +++ b/perception/shape_estimation/include/autoware/shape_estimation/filter/filter.hpp @@ -0,0 +1,25 @@ +// Copyright 2018 Autoware Foundation. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__SHAPE_ESTIMATION__FILTER__FILTER_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__FILTER__FILTER_HPP_ + +#include "autoware/shape_estimation/filter/bus_filter.hpp" +#include "autoware/shape_estimation/filter/car_filter.hpp" +#include "autoware/shape_estimation/filter/filter_interface.hpp" +#include "autoware/shape_estimation/filter/no_filter.hpp" +#include "autoware/shape_estimation/filter/trailer_filter.hpp" +#include "autoware/shape_estimation/filter/truck_filter.hpp" + +#endif // AUTOWARE__SHAPE_ESTIMATION__FILTER__FILTER_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/filter/filter_interface.hpp b/perception/shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp similarity index 75% rename from perception/shape_estimation/include/shape_estimation/filter/filter_interface.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp index 67dfe27eb93b0..cba7715314a9e 100644 --- a/perception/shape_estimation/include/shape_estimation/filter/filter_interface.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp @@ -12,14 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__FILTER__FILTER_INTERFACE_HPP_ -#define SHAPE_ESTIMATION__FILTER__FILTER_INTERFACE_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__FILTER__FILTER_INTERFACE_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__FILTER__FILTER_INTERFACE_HPP_ #include #include #include +namespace autoware::shape_estimation +{ +namespace filter +{ + class ShapeEstimationFilterInterface { public: @@ -31,4 +36,7 @@ class ShapeEstimationFilterInterface const autoware_perception_msgs::msg::Shape & shape, const geometry_msgs::msg::Pose & pose) = 0; }; -#endif // SHAPE_ESTIMATION__FILTER__FILTER_INTERFACE_HPP_ +} // namespace filter +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__FILTER__FILTER_INTERFACE_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/filter/no_filter.hpp b/perception/shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp similarity index 58% rename from perception/shape_estimation/include/shape_estimation/filter/no_filter.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp index d007e6c61c965..f05c0e9affa02 100644 --- a/perception/shape_estimation/include/shape_estimation/filter/no_filter.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp @@ -12,10 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__FILTER__NO_FILTER_HPP_ -#define SHAPE_ESTIMATION__FILTER__NO_FILTER_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__FILTER__NO_FILTER_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__FILTER__NO_FILTER_HPP_ -#include "shape_estimation/filter/filter_interface.hpp" +#include "autoware/shape_estimation/filter/filter_interface.hpp" + +namespace autoware::shape_estimation +{ +namespace filter +{ class NoFilter : public ShapeEstimationFilterInterface { @@ -25,8 +30,14 @@ class NoFilter : public ShapeEstimationFilterInterface ~NoFilter() = default; bool filter( - const autoware_perception_msgs::msg::Shape & shape, - const geometry_msgs::msg::Pose & pose) override; + [[maybe_unused]] const autoware_perception_msgs::msg::Shape & shape, + [[maybe_unused]] const geometry_msgs::msg::Pose & pose) override + { + return true; + } }; -#endif // SHAPE_ESTIMATION__FILTER__NO_FILTER_HPP_ +} // namespace filter +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__FILTER__NO_FILTER_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/filter/trailer_filter.hpp b/perception/shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp similarity index 70% rename from perception/shape_estimation/include/shape_estimation/filter/trailer_filter.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp index 319d3e25c77c0..21394938a8026 100644 --- a/perception/shape_estimation/include/shape_estimation/filter/trailer_filter.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp @@ -12,12 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__FILTER__TRAILER_FILTER_HPP_ -#define SHAPE_ESTIMATION__FILTER__TRAILER_FILTER_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__FILTER__TRAILER_FILTER_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__FILTER__TRAILER_FILTER_HPP_ -#include "shape_estimation/filter/filter_interface.hpp" +#include "autoware/shape_estimation/filter/filter_interface.hpp" #include "utils.hpp" +namespace autoware::shape_estimation +{ +namespace filter +{ class TrailerFilter : public ShapeEstimationFilterInterface { public: @@ -29,5 +33,7 @@ class TrailerFilter : public ShapeEstimationFilterInterface const autoware_perception_msgs::msg::Shape & shape, const geometry_msgs::msg::Pose & pose) override; }; +} // namespace filter +} // namespace autoware::shape_estimation -#endif // SHAPE_ESTIMATION__FILTER__TRAILER_FILTER_HPP_ +#endif // AUTOWARE__SHAPE_ESTIMATION__FILTER__TRAILER_FILTER_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/filter/truck_filter.hpp b/perception/shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp similarity index 70% rename from perception/shape_estimation/include/shape_estimation/filter/truck_filter.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp index e67da1c31115e..a941ec4fd7932 100644 --- a/perception/shape_estimation/include/shape_estimation/filter/truck_filter.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__FILTER__TRUCK_FILTER_HPP_ -#define SHAPE_ESTIMATION__FILTER__TRUCK_FILTER_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__FILTER__TRUCK_FILTER_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__FILTER__TRUCK_FILTER_HPP_ -#include "shape_estimation/filter/filter_interface.hpp" +#include "autoware/shape_estimation/filter/filter_interface.hpp" #include "utils.hpp" - +namespace autoware::shape_estimation +{ +namespace filter +{ class TruckFilter : public ShapeEstimationFilterInterface { public: @@ -29,5 +32,7 @@ class TruckFilter : public ShapeEstimationFilterInterface const autoware_perception_msgs::msg::Shape & shape, const geometry_msgs::msg::Pose & pose) override; }; +} // namespace filter +} // namespace autoware::shape_estimation -#endif // SHAPE_ESTIMATION__FILTER__TRUCK_FILTER_HPP_ +#endif // AUTOWARE__SHAPE_ESTIMATION__FILTER__TRUCK_FILTER_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/filter/utils.hpp b/perception/shape_estimation/include/autoware/shape_estimation/filter/utils.hpp similarity index 77% rename from perception/shape_estimation/include/shape_estimation/filter/utils.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/filter/utils.hpp index 8d487b8d42a93..7f56664e0a57d 100644 --- a/perception/shape_estimation/include/shape_estimation/filter/utils.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/filter/utils.hpp @@ -12,10 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__FILTER__UTILS_HPP_ -#define SHAPE_ESTIMATION__FILTER__UTILS_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__FILTER__UTILS_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__FILTER__UTILS_HPP_ #include +namespace autoware::shape_estimation +{ namespace utils { @@ -24,4 +26,6 @@ bool filterVehicleBoundingBox( const float max_length); } // namespace utils -#endif // SHAPE_ESTIMATION__FILTER__UTILS_HPP_ +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__FILTER__UTILS_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/model/bounding_box.hpp b/perception/shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp similarity index 80% rename from perception/shape_estimation/include/shape_estimation/model/bounding_box.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp index 2ac179d030629..c9d6889c21de5 100644 --- a/perception/shape_estimation/include/shape_estimation/model/bounding_box.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp @@ -12,14 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__MODEL__BOUNDING_BOX_HPP_ -#define SHAPE_ESTIMATION__MODEL__BOUNDING_BOX_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__MODEL__BOUNDING_BOX_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__MODEL__BOUNDING_BOX_HPP_ -#include "shape_estimation/model/model_interface.hpp" -#include "shape_estimation/shape_estimator.hpp" +#include "autoware/shape_estimation/model/model_interface.hpp" +#include "autoware/shape_estimation/shape_estimator.hpp" #include +namespace autoware::shape_estimation +{ +namespace model +{ + class BoundingBoxShapeModel : public ShapeEstimationModelInterface { private: @@ -47,4 +52,7 @@ class BoundingBoxShapeModel : public ShapeEstimationModelInterface geometry_msgs::msg::Pose & pose_output) override; }; -#endif // SHAPE_ESTIMATION__MODEL__BOUNDING_BOX_HPP_ +} // namespace model +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__MODEL__BOUNDING_BOX_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/model/convex_hull.hpp b/perception/shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp similarity index 71% rename from perception/shape_estimation/include/shape_estimation/model/convex_hull.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp index 2748d4a53a807..c3ffa297833fb 100644 --- a/perception/shape_estimation/include/shape_estimation/model/convex_hull.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp @@ -12,10 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__MODEL__CONVEX_HULL_HPP_ -#define SHAPE_ESTIMATION__MODEL__CONVEX_HULL_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__MODEL__CONVEX_HULL_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__MODEL__CONVEX_HULL_HPP_ -#include "shape_estimation/model/model_interface.hpp" +#include "autoware/shape_estimation/model/model_interface.hpp" + +namespace autoware::shape_estimation +{ +namespace model +{ class ConvexHullShapeModel : public ShapeEstimationModelInterface { @@ -30,4 +35,7 @@ class ConvexHullShapeModel : public ShapeEstimationModelInterface geometry_msgs::msg::Pose & pose_output) override; }; -#endif // SHAPE_ESTIMATION__MODEL__CONVEX_HULL_HPP_ +} // namespace model +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__MODEL__CONVEX_HULL_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/model/cylinder.hpp b/perception/shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp similarity index 74% rename from perception/shape_estimation/include/shape_estimation/model/cylinder.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp index ccd28afa3173b..6623934cdcc21 100644 --- a/perception/shape_estimation/include/shape_estimation/model/cylinder.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp @@ -12,10 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__MODEL__CYLINDER_HPP_ -#define SHAPE_ESTIMATION__MODEL__CYLINDER_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__MODEL__CYLINDER_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__MODEL__CYLINDER_HPP_ -#include "shape_estimation/model/model_interface.hpp" +#include "autoware/shape_estimation/model/model_interface.hpp" + +namespace autoware::shape_estimation +{ +namespace model +{ class CylinderShapeModel : public ShapeEstimationModelInterface { @@ -33,4 +38,7 @@ class CylinderShapeModel : public ShapeEstimationModelInterface geometry_msgs::msg::Pose & pose_output) override; }; -#endif // SHAPE_ESTIMATION__MODEL__CYLINDER_HPP_ +} // namespace model +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__MODEL__CYLINDER_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/model/model.hpp b/perception/shape_estimation/include/autoware/shape_estimation/model/model.hpp similarity index 60% rename from perception/shape_estimation/include/shape_estimation/model/model.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/model/model.hpp index 65080ac884073..382812de6f188 100644 --- a/perception/shape_estimation/include/shape_estimation/model/model.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/model/model.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__MODEL__MODEL_HPP_ -#define SHAPE_ESTIMATION__MODEL__MODEL_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__MODEL__MODEL_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__MODEL__MODEL_HPP_ -#include "shape_estimation/model/bounding_box.hpp" -#include "shape_estimation/model/convex_hull.hpp" -#include "shape_estimation/model/cylinder.hpp" -#include "shape_estimation/model/model_interface.hpp" +#include "autoware/shape_estimation/model/bounding_box.hpp" +#include "autoware/shape_estimation/model/convex_hull.hpp" +#include "autoware/shape_estimation/model/cylinder.hpp" +#include "autoware/shape_estimation/model/model_interface.hpp" -#endif // SHAPE_ESTIMATION__MODEL__MODEL_HPP_ +#endif // AUTOWARE__SHAPE_ESTIMATION__MODEL__MODEL_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/model/model_interface.hpp b/perception/shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp similarity index 78% rename from perception/shape_estimation/include/shape_estimation/model/model_interface.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp index f5324196f69bd..380e88704baae 100644 --- a/perception/shape_estimation/include/shape_estimation/model/model_interface.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_ -#define SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_ #include #include @@ -24,6 +24,11 @@ #include +namespace autoware::shape_estimation +{ +namespace model +{ + class ShapeEstimationModelInterface { public: @@ -37,4 +42,7 @@ class ShapeEstimationModelInterface geometry_msgs::msg::Pose & pose_output) = 0; }; -#endif // SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_ +} // namespace model +} // namespace autoware::shape_estimation + +#endif // AUTOWARE__SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/shape_estimator.hpp b/perception/shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp similarity index 90% rename from perception/shape_estimation/include/shape_estimation/shape_estimator.hpp rename to perception/shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp index 7cdab6f86b585..9759c7c77855e 100644 --- a/perception/shape_estimation/include/shape_estimation/shape_estimator.hpp +++ b/perception/shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SHAPE_ESTIMATION__SHAPE_ESTIMATOR_HPP_ -#define SHAPE_ESTIMATION__SHAPE_ESTIMATOR_HPP_ +#ifndef AUTOWARE__SHAPE_ESTIMATION__SHAPE_ESTIMATOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__SHAPE_ESTIMATOR_HPP_ #include #include @@ -27,6 +27,9 @@ #include +namespace autoware::shape_estimation +{ + struct ReferenceYawInfo { float yaw; @@ -75,5 +78,6 @@ class ShapeEstimator const boost::optional & ref_shape_size_info, autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output); }; +} // namespace autoware::shape_estimation -#endif // SHAPE_ESTIMATION__SHAPE_ESTIMATOR_HPP_ +#endif // AUTOWARE__SHAPE_ESTIMATION__SHAPE_ESTIMATOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/corrector/corrector.hpp b/perception/shape_estimation/include/shape_estimation/corrector/corrector.hpp deleted file mode 100644 index e4efc17181e52..0000000000000 --- a/perception/shape_estimation/include/shape_estimation/corrector/corrector.hpp +++ /dev/null @@ -1,27 +0,0 @@ -// Copyright 2018 Autoware Foundation. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_HPP_ -#define SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_HPP_ - -#include "shape_estimation/corrector/bicycle_corrector.hpp" -#include "shape_estimation/corrector/bus_corrector.hpp" -#include "shape_estimation/corrector/car_corrector.hpp" -#include "shape_estimation/corrector/corrector_interface.hpp" -#include "shape_estimation/corrector/no_corrector.hpp" -#include "shape_estimation/corrector/reference_shape_size_corrector.hpp" -#include "shape_estimation/corrector/trailer_corrector.hpp" -#include "shape_estimation/corrector/truck_corrector.hpp" - -#endif // SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_HPP_ diff --git a/perception/shape_estimation/include/shape_estimation/filter/filter.hpp b/perception/shape_estimation/include/shape_estimation/filter/filter.hpp deleted file mode 100644 index b205cbd6791ba..0000000000000 --- a/perception/shape_estimation/include/shape_estimation/filter/filter.hpp +++ /dev/null @@ -1,25 +0,0 @@ -// Copyright 2018 Autoware Foundation. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef SHAPE_ESTIMATION__FILTER__FILTER_HPP_ -#define SHAPE_ESTIMATION__FILTER__FILTER_HPP_ - -#include "shape_estimation/filter/bus_filter.hpp" -#include "shape_estimation/filter/car_filter.hpp" -#include "shape_estimation/filter/filter_interface.hpp" -#include "shape_estimation/filter/no_filter.hpp" -#include "shape_estimation/filter/trailer_filter.hpp" -#include "shape_estimation/filter/truck_filter.hpp" - -#endif // SHAPE_ESTIMATION__FILTER__FILTER_HPP_ diff --git a/perception/shape_estimation/launch/shape_estimation.launch.xml b/perception/shape_estimation/launch/shape_estimation.launch.xml index f13b5d1e5f273..88cea81412d97 100644 --- a/perception/shape_estimation/launch/shape_estimation.launch.xml +++ b/perception/shape_estimation/launch/shape_estimation.launch.xml @@ -5,7 +5,7 @@ - + diff --git a/perception/shape_estimation/lib/corrector/no_corrector.cpp b/perception/shape_estimation/lib/corrector/no_corrector.cpp index e18de4acefcdd..b37ee289871dc 100644 --- a/perception/shape_estimation/lib/corrector/no_corrector.cpp +++ b/perception/shape_estimation/lib/corrector/no_corrector.cpp @@ -12,11 +12,4 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/corrector/no_corrector.hpp" - -bool NoCorrector::correct( - [[maybe_unused]] autoware_perception_msgs::msg::Shape & shape_output, - [[maybe_unused]] geometry_msgs::msg::Pose & pose_output) -{ - return true; -} +#include "autoware/shape_estimation/corrector/no_corrector.hpp" diff --git a/perception/shape_estimation/lib/corrector/utils.cpp b/perception/shape_estimation/lib/corrector/utils.cpp index 1332647b0f1f4..a18e09d5b8a04 100644 --- a/perception/shape_estimation/lib/corrector/utils.cpp +++ b/perception/shape_estimation/lib/corrector/utils.cpp @@ -12,9 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/corrector/utils.hpp" +#define EIGEN_MPL2_ONLY + +#include "autoware/shape_estimation/corrector/utils.hpp" -#include +#include "autoware/universe_utils/geometry/geometry.hpp" #include #include @@ -28,12 +30,14 @@ #include #endif +#include +#include + #include #include -#define EIGEN_MPL2_ONLY -#include -#include +namespace autoware::shape_estimation +{ namespace corrector_utils { @@ -398,3 +402,5 @@ bool correctWithReferenceYawAndShapeSize( return true; } } // namespace corrector_utils + +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/lib/filter/bus_filter.cpp b/perception/shape_estimation/lib/filter/bus_filter.cpp index 536545813237f..a301ce716cca2 100644 --- a/perception/shape_estimation/lib/filter/bus_filter.cpp +++ b/perception/shape_estimation/lib/filter/bus_filter.cpp @@ -12,8 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/filter/bus_filter.hpp" - +#include "autoware/shape_estimation/filter/bus_filter.hpp" +namespace autoware::shape_estimation +{ +namespace filter +{ bool BusFilter::filter( const autoware_perception_msgs::msg::Shape & shape, [[maybe_unused]] const geometry_msgs::msg::Pose & pose) @@ -23,3 +26,6 @@ bool BusFilter::filter( constexpr float max_length = 17.0; return utils::filterVehicleBoundingBox(shape, min_width, max_width, max_length); } + +} // namespace filter +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/lib/filter/car_filter.cpp b/perception/shape_estimation/lib/filter/car_filter.cpp index e12b9c211a24e..ab7a8d69d109f 100644 --- a/perception/shape_estimation/lib/filter/car_filter.cpp +++ b/perception/shape_estimation/lib/filter/car_filter.cpp @@ -12,8 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/filter/car_filter.hpp" +#include "autoware/shape_estimation/filter/car_filter.hpp" +namespace autoware::shape_estimation +{ +namespace filter +{ bool CarFilter::filter( const autoware_perception_msgs::msg::Shape & shape, [[maybe_unused]] const geometry_msgs::msg::Pose & pose) @@ -23,3 +27,6 @@ bool CarFilter::filter( constexpr float max_length = 5.8; return utils::filterVehicleBoundingBox(shape, min_width, max_width, max_length); } + +} // namespace filter +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/lib/filter/no_filter.cpp b/perception/shape_estimation/lib/filter/no_filter.cpp index 564de63461c4f..22690be2ed769 100644 --- a/perception/shape_estimation/lib/filter/no_filter.cpp +++ b/perception/shape_estimation/lib/filter/no_filter.cpp @@ -12,11 +12,4 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/filter/no_filter.hpp" - -bool NoFilter::filter( - [[maybe_unused]] const autoware_perception_msgs::msg::Shape & shape, - [[maybe_unused]] const geometry_msgs::msg::Pose & pose) -{ - return true; -} +#include "autoware/shape_estimation/filter/no_filter.hpp" diff --git a/perception/shape_estimation/lib/filter/trailer_filter.cpp b/perception/shape_estimation/lib/filter/trailer_filter.cpp index 5087350f4d60a..378ce085aa881 100644 --- a/perception/shape_estimation/lib/filter/trailer_filter.cpp +++ b/perception/shape_estimation/lib/filter/trailer_filter.cpp @@ -12,7 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/filter/trailer_filter.hpp" +#include "autoware/shape_estimation/filter/trailer_filter.hpp" + +namespace autoware::shape_estimation +{ +namespace filter +{ bool TrailerFilter::filter( const autoware_perception_msgs::msg::Shape & shape, @@ -23,3 +28,6 @@ bool TrailerFilter::filter( constexpr float max_length = 25.0; // maximum Full-TRAILER size in JAPAN(normally upto 18m) return utils::filterVehicleBoundingBox(shape, min_width, max_width, max_length); } + +} // namespace filter +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/lib/filter/truck_filter.cpp b/perception/shape_estimation/lib/filter/truck_filter.cpp index ad733bb58c97c..4afcccaf55347 100644 --- a/perception/shape_estimation/lib/filter/truck_filter.cpp +++ b/perception/shape_estimation/lib/filter/truck_filter.cpp @@ -12,7 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/filter/truck_filter.hpp" +#include "autoware/shape_estimation/filter/truck_filter.hpp" + +namespace autoware::shape_estimation +{ +namespace filter +{ bool TruckFilter::filter( const autoware_perception_msgs::msg::Shape & shape, @@ -23,3 +28,6 @@ bool TruckFilter::filter( constexpr float max_length = 18.0; // upto 12m in japanese law return utils::filterVehicleBoundingBox(shape, min_width, max_width, max_length); } + +} // namespace filter +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/lib/filter/utils.cpp b/perception/shape_estimation/lib/filter/utils.cpp index 9412be4e99a9e..616eb5e22769e 100644 --- a/perception/shape_estimation/lib/filter/utils.cpp +++ b/perception/shape_estimation/lib/filter/utils.cpp @@ -12,7 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/filter/utils.hpp" +#include "autoware/shape_estimation/filter/utils.hpp" +namespace autoware::shape_estimation +{ namespace utils { @@ -43,4 +45,6 @@ bool filterVehicleBoundingBox( } return true; } + } // namespace utils +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/lib/model/bounding_box.cpp b/perception/shape_estimation/lib/model/bounding_box.cpp index a6693fa56d55b..df751be27d8c0 100644 --- a/perception/shape_estimation/lib/model/bounding_box.cpp +++ b/perception/shape_estimation/lib/model/bounding_box.cpp @@ -12,13 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/model/bounding_box.hpp" +#define EIGEN_MPL2_ONLY + +#include "autoware/shape_estimation/model/bounding_box.hpp" #include #include #include -#include +#include "autoware_perception_msgs/msg/shape.hpp" #include @@ -33,14 +35,17 @@ #include #endif +#include + #include #include #include #include -#define EIGEN_MPL2_ONLY - -#include +namespace autoware::shape_estimation +{ +namespace model +{ constexpr float epsilon = 0.001; @@ -252,3 +257,6 @@ float BoundingBoxShapeModel::boostOptimize( float theta_star = min.first; return theta_star; } + +} // namespace model +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/lib/model/convex_hull.cpp b/perception/shape_estimation/lib/model/convex_hull.cpp index d29fb6aa90a99..3c68634aaff4c 100644 --- a/perception/shape_estimation/lib/model/convex_hull.cpp +++ b/perception/shape_estimation/lib/model/convex_hull.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/model/convex_hull.hpp" +#include "autoware/shape_estimation/model/convex_hull.hpp" #include #include @@ -28,6 +28,11 @@ #include #include +namespace autoware::shape_estimation +{ +namespace model +{ + bool ConvexHullShapeModel::estimate( const pcl::PointCloud & cluster, autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output) @@ -94,3 +99,6 @@ bool ConvexHullShapeModel::estimate( pose_output.orientation.w = 1; return true; } + +} // namespace model +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/lib/model/cylinder.cpp b/perception/shape_estimation/lib/model/cylinder.cpp index 9b3f58854df9d..3f3139222a2bc 100644 --- a/perception/shape_estimation/lib/model/cylinder.cpp +++ b/perception/shape_estimation/lib/model/cylinder.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/model/cylinder.hpp" +#include "autoware/shape_estimation/model/cylinder.hpp" #include #include @@ -26,6 +26,11 @@ #include +namespace autoware::shape_estimation +{ +namespace model +{ + bool CylinderShapeModel::estimate( const pcl::PointCloud & cluster, autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output) @@ -63,3 +68,6 @@ bool CylinderShapeModel::estimate( pose_output.orientation.w = 1; return true; } + +} // namespace model +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/lib/shape_estimator.cpp b/perception/shape_estimation/lib/shape_estimator.cpp index 85bc3cd8bd9d9..34eed5e641368 100644 --- a/perception/shape_estimation/lib/shape_estimator.cpp +++ b/perception/shape_estimation/lib/shape_estimator.cpp @@ -12,15 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/shape_estimator.hpp" +#include "autoware/shape_estimation/shape_estimator.hpp" -#include "shape_estimation/corrector/corrector.hpp" -#include "shape_estimation/filter/filter.hpp" -#include "shape_estimation/model/model.hpp" +#include "autoware/shape_estimation/corrector/corrector.hpp" +#include "autoware/shape_estimation/filter/filter.hpp" +#include "autoware/shape_estimation/model/model.hpp" #include #include +namespace autoware::shape_estimation +{ + using Label = autoware_perception_msgs::msg::ObjectClassification; ShapeEstimator::ShapeEstimator(bool use_corrector, bool use_filter, bool use_boost_bbox_optimizer) @@ -75,15 +78,15 @@ bool ShapeEstimator::estimateOriginalShapeAndPose( autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output) { // estimate shape - std::unique_ptr model_ptr; + std::unique_ptr model_ptr; if ( label == Label::CAR || label == Label::TRUCK || label == Label::BUS || label == Label::TRAILER || label == Label::MOTORCYCLE || label == Label::BICYCLE) { - model_ptr.reset(new BoundingBoxShapeModel(ref_yaw_info, use_boost_bbox_optimizer_)); + model_ptr.reset(new model::BoundingBoxShapeModel(ref_yaw_info, use_boost_bbox_optimizer_)); } else if (label == Label::PEDESTRIAN) { - model_ptr.reset(new CylinderShapeModel()); + model_ptr.reset(new model::CylinderShapeModel()); } else { - model_ptr.reset(new ConvexHullShapeModel()); + model_ptr.reset(new model::ConvexHullShapeModel()); } return model_ptr->estimate(cluster, shape_output, pose_output); @@ -93,17 +96,17 @@ bool ShapeEstimator::applyFilter( const uint8_t label, const autoware_perception_msgs::msg::Shape & shape, const geometry_msgs::msg::Pose & pose) { - std::unique_ptr filter_ptr; + std::unique_ptr filter_ptr; if (label == Label::CAR) { - filter_ptr.reset(new CarFilter); + filter_ptr.reset(new filter::CarFilter); } else if (label == Label::BUS) { - filter_ptr.reset(new BusFilter); + filter_ptr.reset(new filter::BusFilter); } else if (label == Label::TRUCK) { - filter_ptr.reset(new TruckFilter); + filter_ptr.reset(new filter::TruckFilter); } else if (label == Label::TRAILER) { - filter_ptr.reset(new TrailerFilter); + filter_ptr.reset(new filter::TrailerFilter); } else { - filter_ptr.reset(new NoFilter); + filter_ptr.reset(new filter::NoFilter); } return filter_ptr->filter(shape, pose); @@ -114,23 +117,26 @@ bool ShapeEstimator::applyCorrector( const boost::optional & ref_shape_size_info, autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) { - std::unique_ptr corrector_ptr; + std::unique_ptr corrector_ptr; if (ref_shape_size_info && use_reference_yaw) { - corrector_ptr.reset(new ReferenceShapeBasedVehicleCorrector(ref_shape_size_info.get())); + corrector_ptr.reset( + new corrector::ReferenceShapeBasedVehicleCorrector(ref_shape_size_info.get())); } else if (label == Label::CAR) { - corrector_ptr.reset(new CarCorrector(use_reference_yaw)); + corrector_ptr.reset(new corrector::CarCorrector(use_reference_yaw)); } else if (label == Label::BUS) { - corrector_ptr.reset(new BusCorrector(use_reference_yaw)); + corrector_ptr.reset(new corrector::BusCorrector(use_reference_yaw)); } else if (label == Label::TRUCK) { - corrector_ptr.reset(new TruckCorrector(use_reference_yaw)); + corrector_ptr.reset(new corrector::TruckCorrector(use_reference_yaw)); } else if (label == Label::TRAILER) { - corrector_ptr.reset(new TrailerCorrector(use_reference_yaw)); + corrector_ptr.reset(new corrector::TrailerCorrector(use_reference_yaw)); } else if (label == Label::MOTORCYCLE || label == Label::BICYCLE) { - corrector_ptr.reset(new BicycleCorrector(use_reference_yaw)); + corrector_ptr.reset(new corrector::BicycleCorrector(use_reference_yaw)); } else { - corrector_ptr.reset(new NoCorrector); + corrector_ptr.reset(new corrector::NoCorrector); } return corrector_ptr->correct(shape, pose); } + +} // namespace autoware::shape_estimation diff --git a/perception/shape_estimation/src/node.cpp b/perception/shape_estimation/src/shape_estimation_node.cpp similarity index 93% rename from perception/shape_estimation/src/node.cpp rename to perception/shape_estimation/src/shape_estimation_node.cpp index 5719cd97b3ed5..4a373b15d580f 100644 --- a/perception/shape_estimation/src/node.cpp +++ b/perception/shape_estimation/src/shape_estimation_node.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/shape_estimator.hpp" +#include "shape_estimation_node.hpp" -#include -#include +#include "autoware/shape_estimation/shape_estimator.hpp" +#include "autoware/universe_utils/math/unit_conversion.hpp" -#include +#include "autoware_perception_msgs/msg/object_classification.hpp" #include #include @@ -32,6 +32,9 @@ #include #include +namespace autoware::shape_estimation +{ + using Label = autoware_perception_msgs::msg::ObjectClassification; ShapeEstimationNode::ShapeEstimationNode(const rclcpp::NodeOptions & node_options) @@ -143,6 +146,7 @@ void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstShared processing_time_publisher_->publish( "debug/processing_time_ms", stop_watch_ptr_->toc("processing_time", true)); } +} // namespace autoware::shape_estimation #include -RCLCPP_COMPONENTS_REGISTER_NODE(ShapeEstimationNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::shape_estimation::ShapeEstimationNode) diff --git a/perception/shape_estimation/src/node.hpp b/perception/shape_estimation/src/shape_estimation_node.hpp similarity index 88% rename from perception/shape_estimation/src/node.hpp rename to perception/shape_estimation/src/shape_estimation_node.hpp index 807f12e39b025..d9f944346611a 100644 --- a/perception/shape_estimation/src/node.hpp +++ b/perception/shape_estimation/src/shape_estimation_node.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NODE_HPP_ -#define NODE_HPP_ +#ifndef SHAPE_ESTIMATION_NODE_HPP_ +#define SHAPE_ESTIMATION_NODE_HPP_ -#include "shape_estimation/shape_estimator.hpp" +#include "autoware/shape_estimation/shape_estimator.hpp" #include #include @@ -27,6 +27,9 @@ #include +namespace autoware::shape_estimation +{ + using autoware_perception_msgs::msg::DetectedObjects; using tier4_perception_msgs::msg::DetectedObjectsWithFeature; class ShapeEstimationNode : public rclcpp::Node @@ -51,5 +54,6 @@ class ShapeEstimationNode : public rclcpp::Node public: explicit ShapeEstimationNode(const rclcpp::NodeOptions & node_options); }; +} // namespace autoware::shape_estimation -#endif // NODE_HPP_ +#endif // SHAPE_ESTIMATION_NODE_HPP_ diff --git a/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp b/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp index 0c41e04e5ddd2..2e6dcc62d8699 100644 --- a/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp +++ b/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp @@ -13,10 +13,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "shape_estimation/corrector/corrector.hpp" -#include "shape_estimation/filter/filter.hpp" -#include "shape_estimation/model/model.hpp" -#include "shape_estimation/shape_estimator.hpp" +#include "autoware/shape_estimation/corrector/corrector.hpp" +#include "autoware/shape_estimation/filter/filter.hpp" +#include "autoware/shape_estimation/model/model.hpp" +#include "autoware/shape_estimation/shape_estimator.hpp" #include #include @@ -70,7 +70,7 @@ pcl::PointCloud createLShapeCluster( TEST(BoundingBoxShapeModel, test_estimateShape) { // Generate BoundingBoxShapeModel - BoundingBoxShapeModel bbox_shape_model = BoundingBoxShapeModel(); + auto bbox_shape_model = autoware::shape_estimation::model::BoundingBoxShapeModel(); // Generate cluster const double length = 4.0; @@ -117,12 +117,12 @@ TEST(BoundingBoxShapeModel, test_estimateShape_rotated) pcl::PointCloud cluster = createLShapeCluster(length, width, height, yaw, offset_x, offset_y); - const auto ref_yaw_info = - ReferenceYawInfo{static_cast(yaw), static_cast(deg2rad(10.0))}; + const auto ref_yaw_info = autoware::shape_estimation::ReferenceYawInfo{ + static_cast(yaw), static_cast(deg2rad(10.0))}; const bool use_boost_bbox_optimizer = true; // Generate BoundingBoxShapeModel - BoundingBoxShapeModel bbox_shape_model = - BoundingBoxShapeModel(ref_yaw_info, use_boost_bbox_optimizer); + auto bbox_shape_model = autoware::shape_estimation::model::BoundingBoxShapeModel( + ref_yaw_info, use_boost_bbox_optimizer); // Generate shape and pose output autoware_perception_msgs::msg::Shape shape_output; @@ -152,7 +152,7 @@ TEST(BoundingBoxShapeModel, test_estimateShape_rotated) TEST(CylinderShapeModel, test_estimateShape) { // Generate CylinderShapeModel - CylinderShapeModel cylinder_shape_model = CylinderShapeModel(); + auto cylinder_shape_model = autoware::shape_estimation::model::CylinderShapeModel(); // Generate cluster pcl::PointCloud cluster = createLShapeCluster(4.0, 2.0, 1.0, 0.0, 0.0, 0.0); @@ -169,7 +169,7 @@ TEST(CylinderShapeModel, test_estimateShape) TEST(ConvexHullShapeModel, test_estimateShape) { // Generate ConvexHullShapeModel - ConvexHullShapeModel convex_hull_shape_model = ConvexHullShapeModel(); + auto convex_hull_shape_model = autoware::shape_estimation::model::ConvexHullShapeModel(); // Generate cluster pcl::PointCloud cluster = createLShapeCluster(2.0, 1.0, 1.0, 0.0, 0.0, 0.0); @@ -200,14 +200,16 @@ TEST(ShapeEstimator, test_estimateShapeAndPose) const bool use_corrector = true; const bool use_filter = true; const bool use_boost_bbox_optimizer = true; - ShapeEstimator shape_estimator = - ShapeEstimator(use_corrector, use_filter, use_boost_bbox_optimizer); + auto shape_estimator = + autoware::shape_estimation::ShapeEstimator(use_corrector, use_filter, use_boost_bbox_optimizer); // Generate ref_yaw_info - boost::optional ref_yaw_info = boost::none; - boost::optional ref_shape_size_info = boost::none; + boost::optional ref_yaw_info = boost::none; + boost::optional ref_shape_size_info = + boost::none; - ref_yaw_info = ReferenceYawInfo{static_cast(yaw), static_cast(deg2rad(10.0))}; + ref_yaw_info = autoware::shape_estimation::ReferenceYawInfo{ + static_cast(yaw), static_cast(deg2rad(10.0))}; const auto label = autoware_perception_msgs::msg::ObjectClassification::CAR; // Generate shape and pose output From 667570065a4b84c8a354b6c24b9b69b5b74c3dbf Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 8 Jul 2024 08:10:59 +0900 Subject: [PATCH 094/306] fix(pointcloud_preprocessor): temporarily remove distortion corrector unit test (#7879) fix: temporarily remove distortion corretor unit test Signed-off-by: vividf --- .../pointcloud_preprocessor/CMakeLists.txt | 4 - .../test/test_distortion_corrector_node.cpp | 600 ------------------ 2 files changed, 604 deletions(-) delete mode 100644 sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt index 2d0649fe43954..53b6aae55d47b 100644 --- a/sensing/pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/pointcloud_preprocessor/CMakeLists.txt @@ -231,12 +231,8 @@ if(BUILD_TESTING) ament_add_gtest(test_utilities test/test_utilities.cpp ) - ament_add_gtest(distortion_corrector_node_tests - test/test_distortion_corrector_node.cpp - ) target_link_libraries(test_utilities pointcloud_preprocessor_filter) - target_link_libraries(distortion_corrector_node_tests pointcloud_preprocessor_filter) endif() diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp deleted file mode 100644 index 9e5d068be52f5..0000000000000 --- a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp +++ /dev/null @@ -1,600 +0,0 @@ -// Copyright 2024 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" - -#include - -#include -#include -#include -#include - -#include -#include - -class DistortionCorrectorTest : public ::testing::Test -{ -protected: - void SetUp() override - { - node_ = std::make_shared("test_node"); - distortion_corrector_2d_ = - std::make_shared(node_.get()); - distortion_corrector_3d_ = - std::make_shared(node_.get()); - - // Setup TF - tf_broadcaster_ = std::make_shared(node_); - tf_broadcaster_->sendTransform(generateStaticTransformMsg()); - - // Spin the node for a while to ensure transforms are published - auto start = std::chrono::steady_clock::now(); - auto timeout = std::chrono::seconds(1); - while (std::chrono::steady_clock::now() - start < timeout) { - rclcpp::spin_some(node_); - std::this_thread::sleep_for(std::chrono::milliseconds(10)); - } - } - - void TearDown() override {} - - rclcpp::Time addMilliseconds(rclcpp::Time stamp, int ms) - { - auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); - return stamp + ms_in_ns; - } - - rclcpp::Time subtractMilliseconds(rclcpp::Time stamp, int ms) - { - auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); - return stamp - ms_in_ns; - } - - geometry_msgs::msg::TransformStamped generateTransformMsg( - const std::string & parent_frame, const std::string & child_frame, double x, double y, double z, - double qx, double qy, double qz, double qw) - { - geometry_msgs::msg::TransformStamped tf_msg; - tf_msg.header.stamp = node_->get_clock()->now(); - tf_msg.header.frame_id = parent_frame; - tf_msg.child_frame_id = child_frame; - tf_msg.transform.translation.x = x; - tf_msg.transform.translation.y = y; - tf_msg.transform.translation.z = z; - tf_msg.transform.rotation.x = qx; - tf_msg.transform.rotation.y = qy; - tf_msg.transform.rotation.z = qz; - tf_msg.transform.rotation.w = qw; - return tf_msg; - } - - std::vector generateStaticTransformMsg() - { - return { - generateTransformMsg("base_link", "lidar_top", 5.0, 5.0, 5.0, 0.683, 0.5, 0.183, 0.499), - generateTransformMsg("base_link", "imu_link", 1.0, 1.0, 3.0, 0.278, 0.717, 0.441, 0.453)}; - } - - std::shared_ptr generateTwistMsg( - double linear_x, double angular_z, rclcpp::Time stamp) - { - auto twist_msg = std::make_shared(); - twist_msg->header.stamp = stamp; - twist_msg->header.frame_id = "base_link"; - twist_msg->twist.twist.linear.x = linear_x; - twist_msg->twist.twist.angular.z = angular_z; - return twist_msg; - } - - std::shared_ptr generateImuMsg( - double angular_vel_x, double angular_vel_y, double angular_vel_z, rclcpp::Time stamp) - { - auto imu_msg = std::make_shared(); - imu_msg->header.stamp = stamp; - imu_msg->header.frame_id = "imu_link"; - imu_msg->angular_velocity.x = angular_vel_x; - imu_msg->angular_velocity.y = angular_vel_y; - imu_msg->angular_velocity.z = angular_vel_z; - return imu_msg; - } - - std::vector> generateTwistMsgs( - rclcpp::Time pointcloud_timestamp) - { - std::vector> twist_msgs; - rclcpp::Time twist_stamp = subtractMilliseconds(pointcloud_timestamp, 5); - - for (int i = 0; i < 6; ++i) { - auto twist_msg = generateTwistMsg(10.0 + i * 2, 0.02 + i * 0.01, twist_stamp); - twist_msgs.push_back(twist_msg); - // Make sure the twist stamp is not identical to any point stamp, and imu stamp - twist_stamp = addMilliseconds(twist_stamp, 24); - } - - return twist_msgs; - } - - std::vector> generateImuMsgs( - rclcpp::Time pointcloud_timestamp) - { - std::vector> imu_msgs; - rclcpp::Time imu_stamp = subtractMilliseconds(pointcloud_timestamp, 10); - - for (int i = 0; i < 6; ++i) { - auto imu_msg = - generateImuMsg(0.01 + i * 0.005, -0.02 + i * 0.005, 0.05 + i * 0.005, imu_stamp); - imu_msgs.push_back(imu_msg); - // Make sure the imu stamp is not identical to any point stamp, and twist stamp - imu_stamp = addMilliseconds(imu_stamp, 27); - } - - return imu_msgs; - } - - sensor_msgs::msg::PointCloud2 generatePointCloudMsg( - bool is_generate_points, bool is_lidar_frame, rclcpp::Time stamp) - { - sensor_msgs::msg::PointCloud2 pointcloud_msg; - pointcloud_msg.header.stamp = stamp; - pointcloud_msg.header.frame_id = is_lidar_frame ? "lidar_top" : "base_link"; - pointcloud_msg.height = 1; - pointcloud_msg.is_dense = true; - pointcloud_msg.is_bigendian = false; - pointcloud_msg.point_step = - 20; // 3 float32 fields * 4 bytes/field + 1 float64 field * 8 bytes/field - - if (is_generate_points) { - std::vector points = { - 10.0f, 0.0f, 0.0f, // point 1 - 0.0f, 10.0f, 0.0f, // point 2 - 0.0f, 0.0f, 10.0f, // point 3 - 20.0f, 0.0f, 0.0f, // point 4 - 0.0f, 20.0f, 0.0f, // point 5 - 0.0f, 0.0f, 20.0f, // point 6 - 30.0f, 0.0f, 0.0f, // point 7 - 0.0f, 30.0f, 0.0f, // point 8 - 0.0f, 0.0f, 30.0f, // point 9 - 10.0f, 10.0f, 10.0f // point 10 - }; - - size_t number_of_points = points.size() / 3; - std::vector timestamps = - generatePointTimestamps(is_generate_points, stamp, number_of_points); - - std::vector data(number_of_points * pointcloud_msg.point_step); - - for (size_t i = 0; i < number_of_points; ++i) { - std::memcpy(data.data() + i * pointcloud_msg.point_step, &points[i * 3], 3 * sizeof(float)); - std::memcpy( - data.data() + i * pointcloud_msg.point_step + 12, ×tamps[i], sizeof(double)); - } - - pointcloud_msg.width = number_of_points; - pointcloud_msg.row_step = pointcloud_msg.point_step * pointcloud_msg.width; - pointcloud_msg.data = std::move(data); - } else { - pointcloud_msg.width = 0; - pointcloud_msg.row_step = 0; - } - - sensor_msgs::msg::PointField x_field; - x_field.name = "x"; - x_field.offset = 0; - x_field.datatype = sensor_msgs::msg::PointField::FLOAT32; - x_field.count = 1; - - sensor_msgs::msg::PointField y_field; - y_field.name = "y"; - y_field.offset = 4; - y_field.datatype = sensor_msgs::msg::PointField::FLOAT32; - y_field.count = 1; - - sensor_msgs::msg::PointField z_field; - z_field.name = "z"; - z_field.offset = 8; - z_field.datatype = sensor_msgs::msg::PointField::FLOAT32; - z_field.count = 1; - - sensor_msgs::msg::PointField timestamp_field; - timestamp_field.name = "time_stamp"; - timestamp_field.offset = 12; - timestamp_field.datatype = sensor_msgs::msg::PointField::FLOAT64; - timestamp_field.count = 1; - - pointcloud_msg.fields = {x_field, y_field, z_field, timestamp_field}; - - return pointcloud_msg; - } - - std::vector generatePointTimestamps( - bool is_generate_points, rclcpp::Time pointcloud_timestamp, size_t number_of_points) - { - std::vector timestamps; - if (is_generate_points) { - rclcpp::Time point_stamp = pointcloud_timestamp; - for (size_t i = 0; i < number_of_points; ++i) { - double timestamp = point_stamp.seconds(); - timestamps.push_back(timestamp); - if (i > 0) { - point_stamp = point_stamp + rclcpp::Duration::from_seconds( - 0.001); // Assuming 1ms offset for demonstration - } - } - } - return timestamps; - } - - std::shared_ptr node_; - std::shared_ptr distortion_corrector_2d_; - std::shared_ptr distortion_corrector_3d_; - std::shared_ptr tf_broadcaster_; -}; - -TEST_F(DistortionCorrectorTest, TestProcessTwistMessage) -{ - auto twist_msg = generateTwistMsg(1.0, 0.5, node_->get_clock()->now()); - distortion_corrector_2d_->processTwistMessage(twist_msg); - - ASSERT_FALSE(distortion_corrector_2d_->twist_queue_.empty()); - EXPECT_EQ(distortion_corrector_2d_->twist_queue_.front().twist.linear.x, 1.0); - EXPECT_EQ(distortion_corrector_2d_->twist_queue_.front().twist.angular.z, 0.5); -} - -TEST_F(DistortionCorrectorTest, TestProcessIMUMessage) -{ - auto imu_msg = generateImuMsg(0.5, 0.3, 0.1, node_->get_clock()->now()); - distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); - - ASSERT_FALSE(distortion_corrector_2d_->angular_velocity_queue_.empty()); - EXPECT_NEAR(distortion_corrector_2d_->angular_velocity_queue_.front().vector.z, 0.0443032, 1e-5); -} - -TEST_F(DistortionCorrectorTest, TestIsInputValid) -{ - // input normal pointcloud without twist - sensor_msgs::msg::PointCloud2 pointcloud = - generatePointCloudMsg(true, false, node_->get_clock()->now()); - bool result = distortion_corrector_2d_->isInputValid(pointcloud); - EXPECT_FALSE(result); - - // input normal pointcloud with valid twist - auto twist_msg = generateTwistMsg(1.0, 0.5, node_->get_clock()->now()); - distortion_corrector_2d_->processTwistMessage(twist_msg); - - pointcloud = generatePointCloudMsg(true, false, node_->get_clock()->now()); - result = distortion_corrector_2d_->isInputValid(pointcloud); - EXPECT_TRUE(result); - - // input empty pointcloud - pointcloud = generatePointCloudMsg(false, false, node_->get_clock()->now()); - result = distortion_corrector_2d_->isInputValid(pointcloud); - EXPECT_FALSE(result); -} - -TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithBaseLink) -{ - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists_); - EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed_); -} - -TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithLidarFrame) -{ - distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); - EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists_); - EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_needed_); -} - -TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithMissingFrame) -{ - distortion_corrector_2d_->setPointCloudTransform("base_link", "missing_lidar_frame"); - EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_exists_); - EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed_); -} - -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyTwist) -{ - rclcpp::Time timestamp = node_->get_clock()->now(); - // Generate the point cloud message - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); - - // Process empty twist queue - distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->undistortPointCloud(false, pointcloud); - - // Verify the point cloud is not changed - const float * data_ptr = reinterpret_cast(pointcloud.data.data()); - std::vector> expected_pointcloud = { - {10.0f, 0.0f, 0.0f}, {0.0f, 10.0f, 0.0f}, {0.0f, 0.0f, 10.0f}, {20.0f, 0.0f, 0.0f}, - {0.0f, 20.0f, 0.0f}, {0.0f, 0.0f, 20.0f}, {30.0f, 0.0f, 0.0f}, {0.0f, 30.0f, 0.0f}, - {0.0f, 0.0f, 30.0f}, {10.0f, 10.0f, 10.0f}, - }; - - for (size_t i = 0; i < expected_pointcloud.size(); ++i) { - EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 1e-5); - EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 1e-5); - EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 1e-5); - } -} - -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyPointCloud) -{ - rclcpp::Time timestamp = node_->get_clock()->now(); - // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } - // Generate an empty point cloud message - sensor_msgs::msg::PointCloud2 empty_pointcloud = generatePointCloudMsg(false, false, timestamp); - - // Process empty point cloud - distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->undistortPointCloud(true, empty_pointcloud); - - // Verify the point cloud is still empty - EXPECT_EQ(empty_pointcloud.width, 0); - EXPECT_EQ(empty_pointcloud.row_step, 0); -} - -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) -{ - // Generate the point cloud message - rclcpp::Time timestamp = node_->get_clock()->now(); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); - - // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } - - // Test using only twist - distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(false, pointcloud); - - const float * data_ptr = reinterpret_cast(pointcloud.data.data()); - - // Expected undistorted point cloud values - std::vector> expected_pointcloud = { - {10.0f, 0.0f, 0.0f}, {0.0f, 10.0f, 0.0f}, {0.012002f, 5.75338e-07f, 10.0f}, - {20.024f, 0.00191863f, 0.0f}, {0.0340828f, 20.0f, 0.0f}, {0.0479994f, 4.02654e-06f, 20.0f}, - {30.06f, 0.00575818f, 0.0f}, {0.0662481f, 30.0f, 0.0f}, {0.0839996f, 1.03542e-05f, 30.0f}, - {10.0931f, 10.0029f, 10.0f}, - }; - - // Verify each point in the undistorted point cloud - for (size_t i = 0; i < expected_pointcloud.size(); ++i) { - EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); - } -} - -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) -{ - // Generate the point cloud message - rclcpp::Time timestamp = node_->get_clock()->now(); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); - - // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } - - // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); - } - - distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(true, pointcloud); - - const float * data_ptr = reinterpret_cast(pointcloud.data.data()); - - // Expected undistorted point cloud values - std::vector> expected_pointcloud = { - {10.0f, 0.0f, 0.0f}, {0.0f, 10.0f, 0.0f}, {0.0119991f, 5.75201e-07f, 10.0f}, - {20.024f, 0.0019192f, 0.0f}, {0.0321653f, 20.0f, 0.0f}, {0.0479994f, 6.32762e-06f, 20.0f}, - {30.06f, 0.00863842f, 0.0f}, {0.063369f, 30.0f, 0.0f}, {0.0839996f, 1.84079e-05f, 30.0f}, - {10.0912f, 10.0048f, 10.0f}, - }; - - // Verify each point in the undistorted point cloud - for (size_t i = 0; i < expected_pointcloud.size(); ++i) { - EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); - } -} - -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) -{ - // Generate the point cloud message - rclcpp::Time timestamp = node_->get_clock()->now(); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); - - // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } - - // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); - } - - distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); - distortion_corrector_2d_->undistortPointCloud(true, pointcloud); - - const float * data_ptr = reinterpret_cast(pointcloud.data.data()); - // Expected undistorted point cloud values - std::vector> expected_pointcloud = { - {10.0f, -1.77636e-15f, -4.44089e-16f}, {-2.66454e-15f, 10.0f, -8.88178e-16f}, - {0.00622853f, 0.00600991f, 10.0084f}, {20.0106f, 0.010948f, 0.0157355f}, - {0.0176543f, 20.0176f, 0.0248379f}, {0.024499f, 0.0245179f, 20.0348f}, - {30.0266f, 0.0255826f, 0.0357166f}, {0.0355204f, 30.0353f, 0.0500275f}, - {0.047132f, 0.0439795f, 30.0606f}, {10.0488f, 10.046f, 10.0636f}, - }; - - // Verify each point in the undistorted point cloud - for (size_t i = 0; i < expected_pointcloud.size(); ++i) { - EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); - } -} - -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) -{ - // Generate the point cloud message - rclcpp::Time timestamp = node_->get_clock()->now(); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); - - // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_3d_->processTwistMessage(twist_msg); - } - - // Test using only twist - distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(false, pointcloud); - - const float * data_ptr = reinterpret_cast(pointcloud.data.data()); - - // Expected undistorted point cloud values - std::vector> expected_pointcloud = { - {10.0f, 0.0f, 0.0f}, {0.0f, 10.0f, 0.0f}, {0.0119991f, 0.0f, 10.0f}, - {20.024f, 0.00120042f, 0.0f}, {0.0342002f, 20.0f, 0.0f}, {0.0479994f, 2.15994e-06f, 20.0f}, - {30.06f, 0.00450349f, 0.0f}, {0.0666005f, 30.0f, 0.0f}, {0.0839996f, 7.55993e-06f, 30.0f}, - {10.0936f, 10.0024f, 10.0f}, - }; - - // Verify each point in the undistorted point cloud - for (size_t i = 0; i < expected_pointcloud.size(); ++i) { - EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); - } -} - -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) -{ - // Generate the point cloud message - rclcpp::Time timestamp = node_->get_clock()->now(); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); - - // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_3d_->processTwistMessage(twist_msg); - } - - // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); - } - - distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(true, pointcloud); - - const float * data_ptr = reinterpret_cast(pointcloud.data.data()); - - // Expected undistorted point cloud values - std::vector> expected_pointcloud = { - {10.0f, 0.0f, 0.0f}, - {0.0f, 10.0f, 0.0f}, - {0.0118491f, -0.000149993f, 10.0f}, - {20.024f, 0.00220075f, 0.000600241f}, - {0.0327002f, 20.0f, 0.000900472f}, - {0.0468023f, -0.00119623f, 20.0f}, - {30.06f, 0.0082567f, 0.00225216f}, - {0.0621003f, 30.0f, 0.00270227f}, - {0.0808503f, -0.00313673f, 30.0f}, - {10.0904f, 10.0032f, 10.0024f}, - }; - - // Verify each point in the undistorted point cloud - for (size_t i = 0; i < expected_pointcloud.size(); ++i) { - EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); - } -} - -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) -{ - // Generate the point cloud message - rclcpp::Time timestamp = node_->get_clock()->now(); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); - - // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_3d_->processTwistMessage(twist_msg); - } - - // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); - } - - distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "lidar_top"); - distortion_corrector_3d_->undistortPointCloud(true, pointcloud); - - const float * data_ptr = reinterpret_cast(pointcloud.data.data()); - // Expected undistorted point cloud values - std::vector> expected_pointcloud = { - {10.0f, 0.0f, 0.0f}, - {-4.76837e-07f, 10.0f, 4.76837e-07f}, - {0.00572586f, 0.00616837f, 10.0086f}, - {20.0103f, 0.0117249f, 0.0149349f}, - {0.0158343f, 20.0179f, 0.024497f}, - {0.0251098f, 0.0254798f, 20.0343f}, - {30.0259f, 0.0290527f, 0.034577f}, - {0.0319824f, 30.0358f, 0.0477753f}, - {0.0478067f, 0.0460052f, 30.06f}, - {10.0462f, 10.0489f, 10.0625f}, - }; - - // Verify each point in the undistorted point cloud - for (size_t i = 0; i < expected_pointcloud.size(); ++i) { - EXPECT_NEAR(data_ptr[i * 5], expected_pointcloud[i][0], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 1], expected_pointcloud[i][1], 5e-5); - EXPECT_NEAR(data_ptr[i * 5 + 2], expected_pointcloud[i][2], 5e-5); - } -} - -int main(int argc, char ** argv) -{ - ::testing::InitGoogleTest(&argc, argv); - rclcpp::init(argc, argv); - int ret = RUN_ALL_TESTS(); - rclcpp::shutdown(); - return ret; -} From 68a9bb3be97c4c44bf98df72fa69042934e2e874 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Mon, 8 Jul 2024 09:10:41 +0900 Subject: [PATCH 095/306] refactor(gnss_poser): apply static analysis (#7874) * refactor based on linter Signed-off-by: a-maumau * style(pre-commit): autofix --------- Signed-off-by: a-maumau Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/gnss_poser/gnss_poser_core.hpp | 26 +++---- sensing/gnss_poser/src/gnss_poser_core.cpp | 71 ++++++++++--------- 2 files changed, 50 insertions(+), 47 deletions(-) diff --git a/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp b/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp index 97ca1d8bffe77..033abf04f1255 100644 --- a/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp +++ b/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp @@ -49,29 +49,29 @@ class GNSSPoser : public rclcpp::Node private: using MapProjectorInfo = map_interface::MapProjectorInfo; - void callbackMapProjectorInfo(const MapProjectorInfo::Message::ConstSharedPtr msg); - void callbackNavSatFix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr); - void callbackGnssInsOrientationStamped( + void callback_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg); + void callback_nav_sat_fix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr); + void callback_gnss_ins_orientation_stamped( const autoware_sensing_msgs::msg::GnssInsOrientationStamped::ConstSharedPtr msg); - bool isFixed(const sensor_msgs::msg::NavSatStatus & nav_sat_status_msg); - bool canGetCovariance(const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg); - geometry_msgs::msg::Point getMedianPosition( + static bool is_fixed(const sensor_msgs::msg::NavSatStatus & nav_sat_status_msg); + static bool can_get_covariance(const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg); + static geometry_msgs::msg::Point get_median_position( const boost::circular_buffer & position_buffer); - geometry_msgs::msg::Point getAveragePosition( + static geometry_msgs::msg::Point get_average_position( const boost::circular_buffer & position_buffer); - geometry_msgs::msg::Quaternion getQuaternionByHeading(const int heading); - geometry_msgs::msg::Quaternion getQuaternionByPositionDifference( + static geometry_msgs::msg::Quaternion get_quaternion_by_heading(const int heading); + static geometry_msgs::msg::Quaternion get_quaternion_by_position_difference( const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Point & prev_point); - bool getTransform( + bool get_transform( const std::string & target_frame, const std::string & source_frame, const geometry_msgs::msg::TransformStamped::SharedPtr transform_stamped_ptr); - bool getStaticTransform( + bool get_static_transform( const std::string & target_frame, const std::string & source_frame, const geometry_msgs::msg::TransformStamped::SharedPtr transform_stamped_ptr, const builtin_interfaces::msg::Time & stamp); - void publishTF( + void publish_tf( const std::string & frame_id, const std::string & child_frame_id, const geometry_msgs::msg::PoseStamped & pose_msg); @@ -99,7 +99,7 @@ class GNSSPoser : public rclcpp::Node autoware_sensing_msgs::msg::GnssInsOrientationStamped::SharedPtr msg_gnss_ins_orientation_stamped_; - int gnss_pose_pub_method; + int gnss_pose_pub_method_; }; } // namespace gnss_poser diff --git a/sensing/gnss_poser/src/gnss_poser_core.cpp b/sensing/gnss_poser/src/gnss_poser_core.cpp index 7a3b40336ff3d..40a60d17ea7db 100644 --- a/sensing/gnss_poser/src/gnss_poser_core.cpp +++ b/sensing/gnss_poser/src/gnss_poser_core.cpp @@ -36,25 +36,27 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options) use_gnss_ins_orientation_(declare_parameter("use_gnss_ins_orientation")), msg_gnss_ins_orientation_stamped_( std::make_shared()), - gnss_pose_pub_method(declare_parameter("gnss_pose_pub_method")) + gnss_pose_pub_method_(static_cast(declare_parameter("gnss_pose_pub_method"))) { // Subscribe to map_projector_info topic const auto adaptor = component_interface_utils::NodeAdaptor(this); adaptor.init_sub( - sub_map_projector_info_, - [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { callbackMapProjectorInfo(msg); }); + sub_map_projector_info_, [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { + callback_map_projector_info(msg); + }); // Set up position buffer - int buff_epoch = declare_parameter("buff_epoch"); + int buff_epoch = static_cast(declare_parameter("buff_epoch")); position_buffer_.set_capacity(buff_epoch); // Set subscribers and publishers nav_sat_fix_sub_ = create_subscription( - "fix", rclcpp::QoS{1}, std::bind(&GNSSPoser::callbackNavSatFix, this, std::placeholders::_1)); + "fix", rclcpp::QoS{1}, + std::bind(&GNSSPoser::callback_nav_sat_fix, this, std::placeholders::_1)); autoware_orientation_sub_ = create_subscription( "autoware_orientation", rclcpp::QoS{1}, - std::bind(&GNSSPoser::callbackGnssInsOrientationStamped, this, std::placeholders::_1)); + std::bind(&GNSSPoser::callback_gnss_ins_orientation_stamped, this, std::placeholders::_1)); pose_pub_ = create_publisher("gnss_pose", rclcpp::QoS{1}); pose_cov_pub_ = create_publisher( @@ -68,13 +70,13 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options) msg_gnss_ins_orientation_stamped_->orientation.rmse_rotation_z = 1.0; } -void GNSSPoser::callbackMapProjectorInfo(const MapProjectorInfo::Message::ConstSharedPtr msg) +void GNSSPoser::callback_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg) { projector_info_ = *msg; received_map_projector_info_ = true; } -void GNSSPoser::callbackNavSatFix( +void GNSSPoser::callback_nav_sat_fix( const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr) { // Return immediately if map_projector_info has not been received yet. @@ -94,15 +96,15 @@ void GNSSPoser::callbackNavSatFix( } // check fixed topic - const bool is_fixed = isFixed(nav_sat_fix_msg_ptr->status); + const bool is_status_fixed = is_fixed(nav_sat_fix_msg_ptr->status); // publish is_fixed topic tier4_debug_msgs::msg::BoolStamped is_fixed_msg; is_fixed_msg.stamp = this->now(); - is_fixed_msg.data = is_fixed; + is_fixed_msg.data = is_status_fixed; fixed_pub_->publish(is_fixed_msg); - if (!is_fixed) { + if (!is_status_fixed) { RCLCPP_WARN_STREAM_THROTTLE( this->get_logger(), *this->get_clock(), std::chrono::milliseconds(1000).count(), "Not Fixed Topic. Skipping Calculate."); @@ -122,7 +124,7 @@ void GNSSPoser::callbackNavSatFix( geometry_msgs::msg::Pose gnss_antenna_pose{}; // publish pose immediately - if (!gnss_pose_pub_method) { + if (!gnss_pose_pub_method_) { gnss_antenna_pose.position = position; } else { // fill position buffer @@ -134,8 +136,9 @@ void GNSSPoser::callbackNavSatFix( return; } // publish average pose or median pose of position buffer - gnss_antenna_pose.position = (gnss_pose_pub_method == 1) ? getAveragePosition(position_buffer_) - : getMedianPosition(position_buffer_); + gnss_antenna_pose.position = (gnss_pose_pub_method_ == 1) + ? get_average_position(position_buffer_) + : get_median_position(position_buffer_); } // calc gnss antenna orientation @@ -144,7 +147,7 @@ void GNSSPoser::callbackNavSatFix( orientation = msg_gnss_ins_orientation_stamped_->orientation.orientation; } else { static auto prev_position = gnss_antenna_pose.position; - orientation = getQuaternionByPositionDifference(gnss_antenna_pose.position, prev_position); + orientation = get_quaternion_by_position_difference(gnss_antenna_pose.position, prev_position); prev_position = gnss_antenna_pose.position; } @@ -157,7 +160,7 @@ void GNSSPoser::callbackNavSatFix( auto tf_gnss_antenna2base_link_msg_ptr = std::make_shared(); const std::string gnss_frame = nav_sat_fix_msg_ptr->header.frame_id; - getStaticTransform( + get_static_transform( gnss_frame, base_frame_, tf_gnss_antenna2base_link_msg_ptr, nav_sat_fix_msg_ptr->header.stamp); tf2::Transform tf_gnss_antenna2base_link{}; tf2::fromMsg(tf_gnss_antenna2base_link_msg_ptr->transform, tf_gnss_antenna2base_link); @@ -179,11 +182,11 @@ void GNSSPoser::callbackNavSatFix( gnss_base_pose_cov_msg.header = gnss_base_pose_msg.header; gnss_base_pose_cov_msg.pose.pose = gnss_base_pose_msg.pose; gnss_base_pose_cov_msg.pose.covariance[7 * 0] = - canGetCovariance(*nav_sat_fix_msg_ptr) ? nav_sat_fix_msg_ptr->position_covariance[0] : 10.0; + can_get_covariance(*nav_sat_fix_msg_ptr) ? nav_sat_fix_msg_ptr->position_covariance[0] : 10.0; gnss_base_pose_cov_msg.pose.covariance[7 * 1] = - canGetCovariance(*nav_sat_fix_msg_ptr) ? nav_sat_fix_msg_ptr->position_covariance[4] : 10.0; + can_get_covariance(*nav_sat_fix_msg_ptr) ? nav_sat_fix_msg_ptr->position_covariance[4] : 10.0; gnss_base_pose_cov_msg.pose.covariance[7 * 2] = - canGetCovariance(*nav_sat_fix_msg_ptr) ? nav_sat_fix_msg_ptr->position_covariance[8] : 10.0; + can_get_covariance(*nav_sat_fix_msg_ptr) ? nav_sat_fix_msg_ptr->position_covariance[8] : 10.0; if (use_gnss_ins_orientation_) { gnss_base_pose_cov_msg.pose.covariance[7 * 3] = @@ -201,30 +204,30 @@ void GNSSPoser::callbackNavSatFix( pose_cov_pub_->publish(gnss_base_pose_cov_msg); // broadcast map to gnss_base_link - publishTF(map_frame_, gnss_base_frame_, gnss_base_pose_msg); + publish_tf(map_frame_, gnss_base_frame_, gnss_base_pose_msg); } -void GNSSPoser::callbackGnssInsOrientationStamped( +void GNSSPoser::callback_gnss_ins_orientation_stamped( const autoware_sensing_msgs::msg::GnssInsOrientationStamped::ConstSharedPtr msg) { *msg_gnss_ins_orientation_stamped_ = *msg; } -bool GNSSPoser::isFixed(const sensor_msgs::msg::NavSatStatus & nav_sat_status_msg) +bool GNSSPoser::is_fixed(const sensor_msgs::msg::NavSatStatus & nav_sat_status_msg) { return nav_sat_status_msg.status >= sensor_msgs::msg::NavSatStatus::STATUS_FIX; } -bool GNSSPoser::canGetCovariance(const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg) +bool GNSSPoser::can_get_covariance(const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg) { return nav_sat_fix_msg.position_covariance_type > sensor_msgs::msg::NavSatFix::COVARIANCE_TYPE_UNKNOWN; } -geometry_msgs::msg::Point GNSSPoser::getMedianPosition( +geometry_msgs::msg::Point GNSSPoser::get_median_position( const boost::circular_buffer & position_buffer) { - auto getMedian = [](std::vector array) { + auto get_median = [](std::vector array) { std::sort(std::begin(array), std::end(array)); const size_t median_index = array.size() / 2; double median = (array.size() % 2) @@ -243,13 +246,13 @@ geometry_msgs::msg::Point GNSSPoser::getMedianPosition( } geometry_msgs::msg::Point median_point; - median_point.x = getMedian(array_x); - median_point.y = getMedian(array_y); - median_point.z = getMedian(array_z); + median_point.x = get_median(array_x); + median_point.y = get_median(array_y); + median_point.z = get_median(array_z); return median_point; } -geometry_msgs::msg::Point GNSSPoser::getAveragePosition( +geometry_msgs::msg::Point GNSSPoser::get_average_position( const boost::circular_buffer & position_buffer) { std::vector array_x; @@ -271,7 +274,7 @@ geometry_msgs::msg::Point GNSSPoser::getAveragePosition( return average_point; } -geometry_msgs::msg::Quaternion GNSSPoser::getQuaternionByHeading(const int heading) +geometry_msgs::msg::Quaternion GNSSPoser::get_quaternion_by_heading(const int heading) { int heading_conv = 0; // convert heading[0(North)~360] to yaw[-M_PI(West)~M_PI] @@ -288,7 +291,7 @@ geometry_msgs::msg::Quaternion GNSSPoser::getQuaternionByHeading(const int headi return tf2::toMsg(quaternion); } -geometry_msgs::msg::Quaternion GNSSPoser::getQuaternionByPositionDifference( +geometry_msgs::msg::Quaternion GNSSPoser::get_quaternion_by_position_difference( const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Point & prev_point) { const double yaw = std::atan2(point.y - prev_point.y, point.x - prev_point.x); @@ -297,7 +300,7 @@ geometry_msgs::msg::Quaternion GNSSPoser::getQuaternionByPositionDifference( return tf2::toMsg(quaternion); } -bool GNSSPoser::getTransform( +bool GNSSPoser::get_transform( const std::string & target_frame, const std::string & source_frame, const geometry_msgs::msg::TransformStamped::SharedPtr transform_stamped_ptr) { @@ -340,7 +343,7 @@ bool GNSSPoser::getTransform( return true; } -bool GNSSPoser::getStaticTransform( +bool GNSSPoser::get_static_transform( const std::string & target_frame, const std::string & source_frame, const geometry_msgs::msg::TransformStamped::SharedPtr transform_stamped_ptr, const builtin_interfaces::msg::Time & stamp) @@ -385,7 +388,7 @@ bool GNSSPoser::getStaticTransform( return true; } -void GNSSPoser::publishTF( +void GNSSPoser::publish_tf( const std::string & frame_id, const std::string & child_frame_id, const geometry_msgs::msg::PoseStamped & pose_msg) { From 7badbe2cb06fa39a4d486e25d9e210d3839195c3 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 8 Jul 2024 11:18:31 +0900 Subject: [PATCH 096/306] fix(pointcloud_preprocessor): fix documentation (#7878) fix: fix wrong name for json file Signed-off-by: vividf Co-authored-by: Kenzo Lobos Tsunekawa --- sensing/pointcloud_preprocessor/docs/distortion-corrector.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/docs/distortion-corrector.md b/sensing/pointcloud_preprocessor/docs/distortion-corrector.md index 96124f473f825..033e82607057a 100644 --- a/sensing/pointcloud_preprocessor/docs/distortion-corrector.md +++ b/sensing/pointcloud_preprocessor/docs/distortion-corrector.md @@ -36,7 +36,7 @@ Please note that the processing time difference between the two distortion metho ### Core Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json") }} +{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/distortion_corrector_node.schema.json") }} ## Launch From 7c11c8147b3ac6b97aab50ec228491ca43926d5b Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Mon, 8 Jul 2024 13:47:05 +0900 Subject: [PATCH 097/306] chore: update CODEOWNERS (#7819) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions Co-authored-by: Kenzo Lobos Tsunekawa --- .github/CODEOWNERS | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 8f947ce2d2a13..0fe324f84f81a 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -6,7 +6,7 @@ common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.j common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai common/autoware_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp -common/autoware_point_types/** taichi.higashide@tier4.jp +common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @@ -115,9 +115,9 @@ perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp shintaro.tomie@tier4 perception/euclidean_cluster/** dai.nguyen@tier4.jp yukihiro.saito@tier4.jp perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/image_projection_based_fusion/** dai.nguyen@tier4.jp koji.minoda@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp -perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp -perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp +perception/lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com yoshi.ri@tier4.jp +perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi.ri@tier4.jp 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 @@ -192,10 +192,10 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_modu planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp alqudah.mohammad@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp daniel.sanchez@tier4.jp alqudah.mohammad@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp @@ -204,7 +204,7 @@ sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minod sensing/image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp sensing/image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp sensing/imu_corrector/** koji.minoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -sensing/livox/livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp +sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp david.wong@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp melike@leodrive.ai shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp From fb6a1448256a46c3d51580636f9c7f66ce58ce5c Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 8 Jul 2024 14:49:05 +0900 Subject: [PATCH 098/306] fix(motion_planning): fix processing time topic names (#7885) Signed-off-by: Maxime CLEMENT --- .../autoware_motion_velocity_planner_node/src/node.cpp | 4 ++-- .../autoware_motion_velocity_planner_node/src/node.hpp | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index f0100f58074ba..f181b0c76b51e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -83,8 +83,8 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions & velocity_factor_publisher_ = this->create_publisher( "~/output/velocity_factors", 1); - processing_time_publisher_ = this->create_publisher( - "~/debug/total_time/processing_time_ms", 1); + processing_time_publisher_ = + this->create_publisher("~/debug/processing_time_ms", 1); // Parameters smooth_velocity_before_planning_ = declare_parameter("smooth_velocity_before_planning"); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp index 8debb9cbedf00..4bf24cadb36f2 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp @@ -97,7 +97,8 @@ class MotionVelocityPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_viz_pub_; rclcpp::Publisher::SharedPtr velocity_factor_publisher_; - autoware::universe_utils::ProcessingTimePublisher processing_diag_publisher_{this}; + autoware::universe_utils::ProcessingTimePublisher processing_diag_publisher_{ + this, "~/debug/processing_time_ms_diag"}; rclcpp::Publisher::SharedPtr processing_time_publisher_; autoware::universe_utils::PublishedTimePublisher published_time_publisher_{this}; From 76c69f7523924703860d174d0f9c279b1d192207 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 8 Jul 2024 15:53:24 +0900 Subject: [PATCH 099/306] refactor(probabilistic_occupancy_grid_map)!: fix namespace and directory structure (#7872) * refactor: update include paths for probabilistic occupancy grid map Signed-off-by: Taekjin LEE * refactor: update include paths for probabilistic occupancy grid map Signed-off-by: Taekjin LEE * refactor: update namespace for nodes Signed-off-by: Taekjin LEE * refactor: update namespace for lib Signed-off-by: Taekjin LEE * refactor: remove unused dependency Signed-off-by: Taekjin LEE * refactor: use const pointer for occupancy grid map data Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../CMakeLists.txt | 35 ++++++++++--------- .../cost_value}/cost_value.hpp | 14 +++++--- .../costmap_2d}/occupancy_grid_map.hpp | 9 +++-- .../costmap_2d}/occupancy_grid_map_base.hpp | 9 +++-- .../costmap_2d}/occupancy_grid_map_fixed.hpp | 11 +++--- .../occupancy_grid_map_projective.hpp | 11 +++--- .../fusion_policy/fusion_policy.hpp} | 12 ++++--- .../updater/binary_bayes_filter_updater.hpp} | 11 +++--- .../log_odds_bayes_filter_updater.hpp} | 15 ++++---- .../updater/ogm_updater_interface.hpp} | 14 ++++---- .../utils/utils.hpp | 12 ++++--- ...serscan_based_occupancy_grid_map.launch.py | 2 +- ...ntcloud_based_occupancy_grid_map.launch.py | 2 +- ...ntcloud_based_occupancy_grid_map.launch.py | 2 +- .../costmap_2d}/occupancy_grid_map.cpp | 17 +++++---- .../costmap_2d}/occupancy_grid_map_base.cpp | 12 ++++--- .../costmap_2d}/occupancy_grid_map_fixed.cpp | 29 ++++++++------- .../occupancy_grid_map_projective.cpp | 26 ++++++++------ .../fusion_policy/fusion_policy.cpp} | 9 +++-- .../updater/binary_bayes_filter_updater.cpp} | 13 ++++--- .../log_odds_bayes_filter_updater.cpp} | 10 ++++-- .../{src => lib}/utils/utils.cpp | 15 ++++---- .../package.xml | 5 +-- .../synchronized_grid_map_fusion_node.cpp | 20 +++++------ .../synchronized_grid_map_fusion_node.hpp | 18 +++++----- ...aserscan_based_occupancy_grid_map_node.cpp | 14 ++++---- ...aserscan_based_occupancy_grid_map_node.hpp | 16 ++++----- ...intcloud_based_occupancy_grid_map_node.cpp | 18 +++++----- ...intcloud_based_occupancy_grid_map_node.hpp | 16 ++++----- .../test/cost_value_test.cpp | 6 ++-- .../test/fusion_policy_test.cpp | 9 ++--- .../test/test_utils.cpp | 12 +++---- 32 files changed, 241 insertions(+), 183 deletions(-) rename perception/probabilistic_occupancy_grid_map/include/{probabilistic_occupancy_grid_map => autoware/probabilistic_occupancy_grid_map/cost_value}/cost_value.hpp (90%) rename perception/probabilistic_occupancy_grid_map/include/{probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map => autoware/probabilistic_occupancy_grid_map/costmap_2d}/occupancy_grid_map.hpp (91%) rename perception/probabilistic_occupancy_grid_map/include/{probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map => autoware/probabilistic_occupancy_grid_map/costmap_2d}/occupancy_grid_map_base.hpp (91%) rename perception/probabilistic_occupancy_grid_map/include/{probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map => autoware/probabilistic_occupancy_grid_map/costmap_2d}/occupancy_grid_map_fixed.hpp (74%) rename perception/probabilistic_occupancy_grid_map/include/{probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map => autoware/probabilistic_occupancy_grid_map/costmap_2d}/occupancy_grid_map_projective.hpp (77%) rename perception/probabilistic_occupancy_grid_map/include/{probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp => autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp} (84%) rename perception/probabilistic_occupancy_grid_map/include/{probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp => autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp} (72%) rename perception/probabilistic_occupancy_grid_map/include/{probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp => autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp} (69%) rename perception/probabilistic_occupancy_grid_map/include/{probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp => autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp} (68%) rename perception/probabilistic_occupancy_grid_map/include/{ => autoware}/probabilistic_occupancy_grid_map/utils/utils.hpp (90%) rename perception/probabilistic_occupancy_grid_map/{src/laserscan_based_occupancy_grid_map => lib/costmap_2d}/occupancy_grid_map.cpp (93%) rename perception/probabilistic_occupancy_grid_map/{src/pointcloud_based_occupancy_grid_map => lib/costmap_2d}/occupancy_grid_map_base.cpp (95%) rename perception/probabilistic_occupancy_grid_map/{src/pointcloud_based_occupancy_grid_map => lib/costmap_2d}/occupancy_grid_map_fixed.cpp (90%) rename perception/probabilistic_occupancy_grid_map/{src/pointcloud_based_occupancy_grid_map => lib/costmap_2d}/occupancy_grid_map_projective.cpp (93%) rename perception/probabilistic_occupancy_grid_map/{src/fusion/single_frame_fusion_policy.cpp => lib/fusion_policy/fusion_policy.cpp} (97%) rename perception/probabilistic_occupancy_grid_map/{src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp => lib/updater/binary_bayes_filter_updater.cpp} (88%) rename perception/probabilistic_occupancy_grid_map/{src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp => lib/updater/log_odds_bayes_filter_updater.cpp} (88%) rename perception/probabilistic_occupancy_grid_map/{src => lib}/utils/utils.cpp (95%) rename perception/probabilistic_occupancy_grid_map/{include/probabilistic_occupancy_grid_map => src}/fusion/synchronized_grid_map_fusion_node.hpp (85%) rename perception/probabilistic_occupancy_grid_map/{include/probabilistic_occupancy_grid_map => src}/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp (82%) rename perception/probabilistic_occupancy_grid_map/{include/probabilistic_occupancy_grid_map => src}/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp (81%) diff --git a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt index 928532f928e38..d01ef157e21b4 100644 --- a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt +++ b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt @@ -14,8 +14,8 @@ include_directories( ) ament_auto_add_library(${PROJECT_NAME}_common SHARED - src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp - src/utils/utils.cpp + lib/updater/binary_bayes_filter_updater.cpp + lib/utils/utils.cpp ) target_link_libraries(${PROJECT_NAME}_common ${PCL_LIBRARIES} @@ -24,9 +24,9 @@ target_link_libraries(${PROJECT_NAME}_common # PointcloudBasedOccupancyGridMap ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp - src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp - src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp - src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp + lib/costmap_2d/occupancy_grid_map_base.cpp + lib/costmap_2d/occupancy_grid_map_fixed.cpp + lib/costmap_2d/occupancy_grid_map_projective.cpp ) target_link_libraries(pointcloud_based_occupancy_grid_map @@ -35,14 +35,14 @@ target_link_libraries(pointcloud_based_occupancy_grid_map ) rclcpp_components_register_node(pointcloud_based_occupancy_grid_map - PLUGIN "occupancy_grid_map::PointcloudBasedOccupancyGridMapNode" + PLUGIN "autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode" EXECUTABLE pointcloud_based_occupancy_grid_map_node ) # LaserscanBasedOccupancyGridMap ament_auto_add_library(laserscan_based_occupancy_grid_map SHARED src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp - src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp + lib/costmap_2d/occupancy_grid_map.cpp ) target_link_libraries(laserscan_based_occupancy_grid_map @@ -51,17 +51,17 @@ target_link_libraries(laserscan_based_occupancy_grid_map ) rclcpp_components_register_node(laserscan_based_occupancy_grid_map - PLUGIN "occupancy_grid_map::LaserscanBasedOccupancyGridMapNode" + PLUGIN "autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode" EXECUTABLE laserscan_based_occupancy_grid_map_node ) # GridMapFusionNode ament_auto_add_library(synchronized_grid_map_fusion SHARED src/fusion/synchronized_grid_map_fusion_node.cpp - src/fusion/single_frame_fusion_policy.cpp - src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp - src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp - src/utils/utils.cpp + lib/fusion_policy/fusion_policy.cpp + lib/costmap_2d/occupancy_grid_map_fixed.cpp + lib/updater/log_odds_bayes_filter_updater.cpp + lib/utils/utils.cpp ) target_link_libraries(synchronized_grid_map_fusion @@ -69,7 +69,7 @@ target_link_libraries(synchronized_grid_map_fusion ) rclcpp_components_register_node(synchronized_grid_map_fusion - PLUGIN "synchronized_grid_map_fusion::GridMapFusionNode" + PLUGIN "autoware::occupancy_grid_map::GridMapFusionNode" EXECUTABLE synchronized_grid_map_fusion_node ) @@ -88,13 +88,14 @@ if(BUILD_TESTING) # gtest ament_add_gtest(test_utils - test/test_utils.cpp + test/test_utils.cpp ) ament_add_gtest(costmap_unit_tests - test/cost_value_test.cpp) + test/cost_value_test.cpp + ) ament_add_gtest(fusion_policy_unit_tests - test/fusion_policy_test.cpp - src/fusion/single_frame_fusion_policy.cpp + test/fusion_policy_test.cpp + lib/fusion_policy/fusion_policy.cpp ) target_link_libraries(test_utils ${PCL_LIBRARIES} diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp similarity index 90% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp index 880297a1210ed..d470d206c41c6 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp @@ -48,12 +48,14 @@ * Author: Eitan Marder-Eppstein *********************************************************************/ -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_ #include -namespace occupancy_cost_value +namespace autoware::occupancy_grid_map +{ +namespace cost_value { static const unsigned char NO_INFORMATION = 128; // 0.5 * 255 static const unsigned char LETHAL_OBSTACLE = 255; @@ -101,6 +103,8 @@ struct InverseCostTranslationTable static const CostTranslationTable cost_translation_table; static const InverseCostTranslationTable inverse_cost_translation_table; -} // namespace occupancy_cost_value -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_ +} // namespace cost_value +} // namespace autoware::occupancy_grid_map + +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp similarity index 91% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp index d2210cf9c348a..93e768c0f6b4e 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp @@ -49,8 +49,8 @@ * David V. Lu!! *********************************************************************/ -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_ #include #include @@ -59,6 +59,8 @@ #include #include +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { using geometry_msgs::msg::Pose; @@ -90,5 +92,6 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D }; } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_ +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp similarity index 91% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp index f01b2d74e160b..2b2057af9cc12 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp @@ -49,8 +49,8 @@ * David V. Lu!! *********************************************************************/ -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_ #include #include @@ -59,6 +59,8 @@ #include #include +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { using geometry_msgs::msg::Pose; @@ -91,5 +93,6 @@ class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D }; } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_ +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp similarity index 74% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp index 298f327d632d7..9dfd8b8689123 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp @@ -12,11 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_ -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp" +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { using geometry_msgs::msg::Pose; @@ -43,5 +45,6 @@ class OccupancyGridMapFixedBlindSpot : public OccupancyGridMapInterface }; } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_ +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp similarity index 77% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp index 67b51d6184c8c..1f0f92d933ff3 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp @@ -12,15 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_ -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp" #include #include +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { using geometry_msgs::msg::Pose; @@ -51,5 +53,6 @@ class OccupancyGridMapProjectiveBlindSpot : public OccupancyGridMapInterface }; } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_ +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp similarity index 84% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp index 1f0553878ef5a..a2d7c90a023a5 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_ -#include "probabilistic_occupancy_grid_map/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" #include #include @@ -25,6 +25,8 @@ /*min and max prob threshold to prevent log-odds to diverge*/ #define EPSILON_PROB 0.03 +namespace autoware::occupancy_grid_map +{ namespace fusion_policy { enum class FusionMethod { OVERWRITE, LOG_ODDS, DEMPSTER_SHAFER }; @@ -61,6 +63,8 @@ unsigned char singleFrameOccupancyFusion( unsigned char singleFrameOccupancyFusion( const std::vector & occupancy, FusionMethod method, const std::vector & reliability); + } // namespace fusion_policy +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_ +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp similarity index 72% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp index 3a921035ef219..af28b7962b3bc 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp @@ -12,14 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_ -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp" #include #include +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface @@ -38,5 +40,6 @@ class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface }; } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_ +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp similarity index 69% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp index 245484e442609..d7bb1184c06d6 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_ -#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp" -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp" -#include "probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" #include #include @@ -25,6 +25,8 @@ // LOBF means: Log Odds Bayes Filter // cspell: ignore LOBF +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface @@ -45,5 +47,6 @@ class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface }; } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_ +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp similarity index 68% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp index e85edf2245ef3..75231089ac33c 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp @@ -12,14 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_ -#include "probabilistic_occupancy_grid_map/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" #include #include +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D @@ -27,8 +29,7 @@ class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D public: OccupancyGridMapUpdaterInterface( const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) - : Costmap2D( - cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION) + : Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION) { } virtual ~OccupancyGridMapUpdaterInterface() = default; @@ -37,5 +38,6 @@ class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D }; } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_ +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp similarity index 90% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp index 0950272dac470..50b470d904ef6 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_ +#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_ +#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_ -#include "probabilistic_occupancy_grid_map/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" #include #include @@ -45,6 +45,8 @@ #include #include +namespace autoware::occupancy_grid_map +{ namespace utils { @@ -117,6 +119,8 @@ bool extractCommonPointCloud( sensor_msgs::msg::PointCloud2 & output_obstacle_pc); unsigned char getApproximateOccupancyState(const unsigned char & value); + } // namespace utils +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_ +#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py index 62cfa4bcb5228..1edc538b3de3f 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py @@ -85,7 +85,7 @@ def launch_setup(context, *args, **kwargs): ), ComposableNode( package="probabilistic_occupancy_grid_map", - plugin="occupancy_grid_map::LaserscanBasedOccupancyGridMapNode", + plugin="autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode", name="occupancy_grid_map_node", remappings=[ ("~/input/laserscan", LaunchConfiguration("output/laserscan")), diff --git a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py index b112dd0a84b83..ef40839d2a5aa 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py @@ -196,7 +196,7 @@ def launch_setup(context, *args, **kwargs): # generate composable node node = ComposableNode( package="probabilistic_occupancy_grid_map", - plugin="occupancy_grid_map::PointcloudBasedOccupancyGridMapNode", + plugin="autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode", name="occupancy_grid_map_node", namespace=frame_name, remappings=[ diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py index 0e84e4860fdf3..bb5ef025a7e47 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py @@ -96,7 +96,7 @@ def launch_setup(context, *args, **kwargs): composable_nodes.append( ComposableNode( package="probabilistic_occupancy_grid_map", - plugin="occupancy_grid_map::PointcloudBasedOccupancyGridMapNode", + plugin="autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode", name="occupancy_grid_map_node", remappings=[ ( diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp similarity index 93% rename from perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp rename to perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp index 3d02be9ca7156..25eafcd564e2d 100644 --- a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp @@ -49,21 +49,23 @@ * David V. Lu!! *********************************************************************/ -#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp" -#include "probabilistic_occupancy_grid_map/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" #include #include +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { using sensor_msgs::PointCloud2ConstIterator; OccupancyGridMap::OccupancyGridMap( const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) -: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION) +: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION) { } @@ -140,7 +142,7 @@ void OccupancyGridMap::raytrace2D(const PointCloud2 & pointcloud, const Pose & r raytraceFreespace(pointcloud, robot_pose); // occupied - MarkCell marker(costmap_, occupancy_cost_value::LETHAL_OBSTACLE); + MarkCell marker(costmap_, cost_value::LETHAL_OBSTACLE); for (PointCloud2ConstIterator iter_x(pointcloud, "x"), iter_y(pointcloud, "y"); iter_x != iter_x.end(); ++iter_x, ++iter_y) { unsigned int mx, my; @@ -155,12 +157,12 @@ void OccupancyGridMap::raytrace2D(const PointCloud2 & pointcloud, const Pose & r void OccupancyGridMap::updateFreespaceCells(const PointCloud2 & pointcloud) { - updateCellsByPointCloud(pointcloud, occupancy_cost_value::FREE_SPACE); + updateCellsByPointCloud(pointcloud, cost_value::FREE_SPACE); } void OccupancyGridMap::updateOccupiedCells(const PointCloud2 & pointcloud) { - updateCellsByPointCloud(pointcloud, occupancy_cost_value::LETHAL_OBSTACLE); + updateCellsByPointCloud(pointcloud, cost_value::LETHAL_OBSTACLE); } void OccupancyGridMap::updateCellsByPointCloud( @@ -244,9 +246,10 @@ void OccupancyGridMap::raytraceFreespace(const PointCloud2 & pointcloud, const P } constexpr unsigned int cell_raytrace_range = 10000; // large number to ignore range threshold - MarkCell marker(costmap_, occupancy_cost_value::FREE_SPACE); + MarkCell marker(costmap_, cost_value::FREE_SPACE); raytraceLine(marker, x0, y0, x1, y1, cell_raytrace_range); } } } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp similarity index 95% rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp rename to perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp index 3d176e41583a0..5e9b5598c8f63 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp @@ -49,10 +49,10 @@ * David V. Lu!! *********************************************************************/ -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp" -#include "probabilistic_occupancy_grid_map/cost_value.hpp" -#include "probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" #include #include @@ -69,13 +69,16 @@ #endif #include + +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { using sensor_msgs::PointCloud2ConstIterator; OccupancyGridMapInterface::OccupancyGridMapInterface( const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) -: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION) +: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION) { } @@ -230,3 +233,4 @@ void OccupancyGridMapInterface::raytrace( } } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp similarity index 90% rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp rename to perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp index d4e177209f99d..f25009d47bdcc 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp" -#include "probabilistic_occupancy_grid_map/cost_value.hpp" -#include "probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" #include #include @@ -33,6 +33,9 @@ #endif #include + +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { using sensor_msgs::PointCloud2ConstIterator; @@ -136,7 +139,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( } raytrace( scan_origin.position.x, scan_origin.position.y, end_distance.wx, end_distance.wy, - occupancy_cost_value::FREE_SPACE); + cost_value::FREE_SPACE); } // Second step: Add unknown cell @@ -162,9 +165,8 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); if (!no_freespace_point) { const auto & target = *raw_distance_iter; - raytrace( - source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION); - setCellValue(target.wx, target.wy, occupancy_cost_value::FREE_SPACE); + raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); + setCellValue(target.wx, target.wy, cost_value::FREE_SPACE); } continue; } @@ -177,7 +179,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( } else if (no_freespace_point) { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION); + raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); continue; } @@ -186,13 +188,13 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( if (next_raw_distance < next_obstacle_point_distance) { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); const auto & target = *raw_distance_iter; - raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION); - setCellValue(target.wx, target.wy, occupancy_cost_value::FREE_SPACE); + raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); + setCellValue(target.wx, target.wy, cost_value::FREE_SPACE); continue; } else { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION); + raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); continue; } } @@ -203,7 +205,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - setCellValue(source.wx, source.wy, occupancy_cost_value::LETHAL_OBSTACLE); + setCellValue(source.wx, source.wy, cost_value::LETHAL_OBSTACLE); if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { continue; @@ -215,7 +217,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( if (next_obstacle_point_distance <= distance_margin_) { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::LETHAL_OBSTACLE); + raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::LETHAL_OBSTACLE); continue; } } @@ -229,3 +231,4 @@ void OccupancyGridMapFixedBlindSpot::initRosParam(rclcpp::Node & node) } } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp similarity index 93% rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp rename to perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp index 03d7a42ae7043..a2400fb3c81b2 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp" -#include "probabilistic_occupancy_grid_map/cost_value.hpp" -#include "probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" #include #include @@ -34,6 +34,9 @@ #endif #include + +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { using sensor_msgs::PointCloud2ConstIterator; @@ -192,7 +195,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( } raytrace( scan_origin.position.x, scan_origin.position.y, ray_end.wx, ray_end.wy, - occupancy_cost_value::FREE_SPACE); + cost_value::FREE_SPACE); } if (pub_debug_grid_) @@ -219,7 +222,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); raytrace( source.wx, source.wy, source.projected_wx, source.projected_wy, - occupancy_cost_value::NO_INFORMATION); + cost_value::NO_INFORMATION); break; } @@ -227,7 +230,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); raytrace( source.wx, source.wy, source.projected_wx, source.projected_wy, - occupancy_cost_value::NO_INFORMATION); + cost_value::NO_INFORMATION); continue; } @@ -243,13 +246,13 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( if (next_raw_distance < next_obstacle_point_distance) { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); const auto & target = *raw_distance_iter; - raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION); - setCellValue(target.wx, target.wy, occupancy_cost_value::FREE_SPACE); + raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); + setCellValue(target.wx, target.wy, cost_value::FREE_SPACE); continue; } else { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION); + raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION); continue; } } @@ -262,7 +265,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - setCellValue(source.wx, source.wy, occupancy_cost_value::LETHAL_OBSTACLE); + setCellValue(source.wx, source.wy, cost_value::LETHAL_OBSTACLE); if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { continue; @@ -274,7 +277,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( if (next_obstacle_point_distance <= obstacle_separation_threshold_) { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); - raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::LETHAL_OBSTACLE); + raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::LETHAL_OBSTACLE); continue; } } @@ -299,3 +302,4 @@ void OccupancyGridMapProjectiveBlindSpot::initRosParam(rclcpp::Node & node) } } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp b/perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp similarity index 97% rename from perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp rename to perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp index 7e2c3f7ba304a..1e88b7a39fd14 100644 --- a/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp @@ -12,8 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp" +#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp" +namespace autoware::occupancy_grid_map +{ namespace fusion_policy { @@ -61,9 +63,9 @@ namespace overwrite_fusion */ State getApproximateState(const unsigned char & occupancy) { - if (occupancy >= occupancy_cost_value::OCCUPIED_THRESHOLD) { + if (occupancy >= cost_value::OCCUPIED_THRESHOLD) { return State::OCCUPIED; - } else if (occupancy <= occupancy_cost_value::FREE_THRESHOLD) { + } else if (occupancy <= cost_value::FREE_THRESHOLD) { return State::FREE; } else { return State::UNKNOWN; @@ -320,3 +322,4 @@ unsigned char singleFrameOccupancyFusion( } } // namespace fusion_policy +} // namespace autoware::occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp b/perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp similarity index 88% rename from perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp rename to perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp index 40f538a64f6e9..74506d095b36d 100644 --- a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp @@ -12,12 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp" -#include "probabilistic_occupancy_grid_map/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" #include +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { @@ -48,15 +50,15 @@ inline unsigned char OccupancyGridMapBBFUpdater::applyBBF( float pz{}; float not_pz{}; float po_hat{}; - if (z == occupancy_cost_value::LETHAL_OBSTACLE) { + if (z == cost_value::LETHAL_OBSTACLE) { pz = probability_matrix_(Index::OCCUPIED, Index::OCCUPIED); not_pz = probability_matrix_(Index::FREE, Index::OCCUPIED); po_hat = ((po * pz) / ((po * pz) + ((1.f - po) * not_pz))); - } else if (z == occupancy_cost_value::FREE_SPACE) { + } else if (z == cost_value::FREE_SPACE) { pz = 1.f - probability_matrix_(Index::FREE, Index::FREE); not_pz = 1.f - probability_matrix_(Index::OCCUPIED, Index::FREE); po_hat = ((po * pz) / ((po * pz) + ((1.f - po) * not_pz))); - } else if (z == occupancy_cost_value::NO_INFORMATION) { + } else if (z == cost_value::NO_INFORMATION) { const float inv_v_ratio = 1.f / v_ratio_; po_hat = ((po + (0.5f * inv_v_ratio)) / ((1.f * inv_v_ratio) + 1.f)); } @@ -79,3 +81,4 @@ bool OccupancyGridMapBBFUpdater::update(const Costmap2D & single_frame_occupancy } } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp b/perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp similarity index 88% rename from perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp rename to perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp index 607694d6da571..9f3c3c7e40eaf 100644 --- a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp @@ -12,14 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp" -#include "probabilistic_occupancy_grid_map/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" #include // cspell: ignore LOBF +namespace autoware::occupancy_grid_map +{ namespace costmap_2d { @@ -35,7 +37,7 @@ inline unsigned char OccupancyGridMapLOBFUpdater::applyLOBF( using fusion_policy::convertProbabilityToChar; using fusion_policy::log_odds_fusion::logOddsFusion; - constexpr unsigned char unknown = occupancy_cost_value::NO_INFORMATION; + constexpr unsigned char unknown = cost_value::NO_INFORMATION; constexpr unsigned char unknown_margin = 1; /* Tau and ST decides how fast the observation decay to the unknown status*/ constexpr double tau = 0.75; @@ -68,4 +70,6 @@ bool OccupancyGridMapLOBFUpdater::update(const Costmap2D & single_frame_occupanc } return true; } + } // namespace costmap_2d +} // namespace autoware::occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp b/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp similarity index 95% rename from perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp rename to perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp index 209207fe10f34..e8c2cdb2617df 100644 --- a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp @@ -12,12 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" #include #include +namespace autoware::occupancy_grid_map +{ namespace utils { @@ -189,13 +191,14 @@ bool extractCommonPointCloud( */ unsigned char getApproximateOccupancyState(const unsigned char & value) { - if (value >= occupancy_cost_value::OCCUPIED_THRESHOLD) { - return occupancy_cost_value::LETHAL_OBSTACLE; - } else if (value <= occupancy_cost_value::FREE_THRESHOLD) { - return occupancy_cost_value::FREE_SPACE; + if (value >= cost_value::OCCUPIED_THRESHOLD) { + return cost_value::LETHAL_OBSTACLE; + } else if (value <= cost_value::FREE_THRESHOLD) { + return cost_value::FREE_SPACE; } else { - return occupancy_cost_value::NO_INFORMATION; + return cost_value::NO_INFORMATION; } } } // namespace utils +} // namespace autoware::occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml index d8ae702ef60ca..d8647ae2ba744 100644 --- a/perception/probabilistic_occupancy_grid_map/package.xml +++ b/perception/probabilistic_occupancy_grid_map/package.xml @@ -13,9 +13,9 @@ ament_cmake_auto autoware_cmake + eigen3_cmake_module autoware_universe_utils - eigen3_cmake_module grid_map_costmap_2d grid_map_msgs grid_map_ros @@ -27,12 +27,9 @@ rclcpp rclcpp_components sensor_msgs - tf2 tf2_eigen - tf2_geometry_msgs tf2_ros tf2_sensor_msgs - visualization_msgs pointcloud_preprocessor pointcloud_to_laserscan diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp index fa93db802b0ce..a271e17a1e566 100644 --- a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp" +#include "synchronized_grid_map_fusion_node.hpp" -#include "probabilistic_occupancy_grid_map/cost_value.hpp" -#include "probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" // cspell: ignore LOBF -namespace synchronized_grid_map_fusion +namespace autoware::occupancy_grid_map { using costmap_2d::OccupancyGridMapFixedBlindSpot; using costmap_2d::OccupancyGridMapLOBFUpdater; @@ -404,7 +404,7 @@ nav2_costmap_2d::Costmap2D GridMapFusionNode::OccupancyGridMsgToCostmap2D( for (unsigned int j = 0; j < occupancy_grid_map.info.height; j++) { const unsigned int index = i + j * occupancy_grid_map.info.width; costmap2d.setCost( - i, j, occupancy_cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]); + i, j, cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]); } } @@ -424,7 +424,7 @@ OccupancyGridMapFixedBlindSpot GridMapFusionNode::OccupancyGridMsgToGridMap( for (unsigned int j = 0; j < occupancy_grid_map.info.height; j++) { const unsigned int index = i + j * occupancy_grid_map.info.width; gridmap.setCost( - i, j, occupancy_cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]); + i, j, cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]); } } return gridmap; @@ -453,14 +453,14 @@ nav_msgs::msg::OccupancyGrid::UniquePtr GridMapFusionNode::OccupancyGridMapToMsg msg_ptr->data.resize(msg_ptr->info.width * msg_ptr->info.height); - unsigned char * data = occupancy_grid_map.getCharMap(); + const unsigned char * data = occupancy_grid_map.getCharMap(); for (unsigned int i = 0; i < msg_ptr->data.size(); ++i) { - msg_ptr->data[i] = occupancy_cost_value::cost_translation_table[data[i]]; + msg_ptr->data[i] = cost_value::cost_translation_table[data[i]]; } return msg_ptr; } -} // namespace synchronized_grid_map_fusion +} // namespace autoware::occupancy_grid_map #include -RCLCPP_COMPONENTS_REGISTER_NODE(synchronized_grid_map_fusion::GridMapFusionNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::occupancy_grid_map::GridMapFusionNode) diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp similarity index 85% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp rename to perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp index 84ca13c8b1881..c839f160aab9b 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp +++ b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_ +#ifndef FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_ +#define FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_ -#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp" -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp" -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp" -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp" +#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp" #include #include @@ -45,7 +45,7 @@ // cspell: ignore LOBF -namespace synchronized_grid_map_fusion +namespace autoware::occupancy_grid_map { using costmap_2d::OccupancyGridMapFixedBlindSpot; @@ -124,6 +124,6 @@ class GridMapFusionNode : public rclcpp::Node fusion_policy::FusionMethod fusion_method_; }; -} // namespace synchronized_grid_map_fusion +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_ +#endif // FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp index 777c180fe1a3a..6c4ad8135b37d 100644 --- a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp" +#include "laserscan_based_occupancy_grid_map_node.hpp" -#include "probabilistic_occupancy_grid_map/cost_value.hpp" -#include "probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" #include @@ -35,7 +35,7 @@ #include #include -namespace occupancy_grid_map +namespace autoware::occupancy_grid_map { using costmap_2d::OccupancyGridMap; using costmap_2d::OccupancyGridMapBBFUpdater; @@ -229,12 +229,12 @@ OccupancyGrid::UniquePtr LaserscanBasedOccupancyGridMapNode::OccupancyGridMapToM unsigned char * data = occupancy_grid_map.getCharMap(); for (unsigned int i = 0; i < msg_ptr->data.size(); ++i) { - msg_ptr->data[i] = occupancy_cost_value::cost_translation_table[data[i]]; + msg_ptr->data[i] = cost_value::cost_translation_table[data[i]]; } return msg_ptr; } -} // namespace occupancy_grid_map +} // namespace autoware::occupancy_grid_map #include -RCLCPP_COMPONENTS_REGISTER_NODE(occupancy_grid_map::LaserscanBasedOccupancyGridMapNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode) diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp similarity index 82% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp rename to perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp index a8adea6e700e5..a599f7b564c8b 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp +++ b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ +#ifndef LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ +#define LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ -#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp" -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp" -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp" #include #include @@ -36,7 +36,7 @@ #include #include -namespace occupancy_grid_map +namespace autoware::occupancy_grid_map { using builtin_interfaces::msg::Time; using costmap_2d::OccupancyGridMapUpdaterInterface; @@ -100,6 +100,6 @@ class LaserscanBasedOccupancyGridMapNode : public rclcpp::Node bool enable_single_frame_mode_; }; -} // namespace occupancy_grid_map +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ +#endif // LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp index d019280aefda0..3fe75263b3f28 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp" +#include "pointcloud_based_occupancy_grid_map_node.hpp" -#include "probabilistic_occupancy_grid_map/cost_value.hpp" -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp" -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp" -#include "probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" #include #include @@ -40,7 +40,7 @@ #include #include -namespace occupancy_grid_map +namespace autoware::occupancy_grid_map { using costmap_2d::OccupancyGridMapBBFUpdater; using costmap_2d::OccupancyGridMapFixedBlindSpot; @@ -250,12 +250,12 @@ OccupancyGrid::UniquePtr PointcloudBasedOccupancyGridMapNode::OccupancyGridMapTo unsigned char * data = occupancy_grid_map.getCharMap(); for (unsigned int i = 0; i < msg_ptr->data.size(); ++i) { - msg_ptr->data[i] = occupancy_cost_value::cost_translation_table[data[i]]; + msg_ptr->data[i] = cost_value::cost_translation_table[data[i]]; } return msg_ptr; } -} // namespace occupancy_grid_map +} // namespace autoware::occupancy_grid_map #include -RCLCPP_COMPONENTS_REGISTER_NODE(occupancy_grid_map::PointcloudBasedOccupancyGridMapNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode) diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp similarity index 81% rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp rename to perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp index 1d119102dc28d..e0c7ef74988f4 100644 --- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ -#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ +#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ +#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ -#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp" -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp" -#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp" +#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp" +#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp" #include #include @@ -38,7 +38,7 @@ #include #include -namespace occupancy_grid_map +namespace autoware::occupancy_grid_map { using builtin_interfaces::msg::Time; using costmap_2d::OccupancyGridMapInterface; @@ -93,6 +93,6 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node bool filter_obstacle_pointcloud_by_raw_pointcloud_; }; -} // namespace occupancy_grid_map +} // namespace autoware::occupancy_grid_map -#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ +#endif // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp b/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp index c41c809a92b0c..f03852562f7ca 100644 --- a/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp +++ b/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/cost_value.hpp" +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" #include // Test the CostTranslationTable and InverseCostTranslationTable functions -using occupancy_cost_value::cost_translation_table; -using occupancy_cost_value::inverse_cost_translation_table; +using autoware::occupancy_grid_map::cost_value::cost_translation_table; +using autoware::occupancy_grid_map::cost_value::inverse_cost_translation_table; TEST(CostTranslationTableTest, TestRange) { diff --git a/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp b/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp index 6b3dc8a2ebcef..78137371c720e 100644 --- a/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp +++ b/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp @@ -12,15 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "probabilistic_occupancy_grid_map/cost_value.hpp" -#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp" +#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp" + +#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp" #include // Test the log-odds update rule TEST(FusionPolicyTest, TestLogOddsUpdateRule) { - using fusion_policy::log_odds_fusion::logOddsFusion; + using autoware::occupancy_grid_map::fusion_policy::log_odds_fusion::logOddsFusion; const double MARGIN = 0.03; const double OCCUPIED = 1.0 - MARGIN; const double FREE = 0.0 + MARGIN; @@ -49,7 +50,7 @@ TEST(FusionPolicyTest, TestLogOddsUpdateRule) // Test the dempster-shafer update rule TEST(FusionPolicyTest, TestDempsterShaferUpdateRule) { - using fusion_policy::dempster_shafer_fusion::dempsterShaferFusion; + using autoware::occupancy_grid_map::fusion_policy::dempster_shafer_fusion::dempsterShaferFusion; const double MARGIN = 0.03; const double OCCUPIED = 1.0 - MARGIN; const double FREE = 0.0 + MARGIN; diff --git a/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp b/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp index 4bc3dca0a67bd..17df981d849d4 100644 --- a/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp +++ b/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp @@ -13,7 +13,7 @@ // limitations under the License. // autoware -#include "probabilistic_occupancy_grid_map/utils/utils.hpp" +#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp" #include @@ -77,14 +77,14 @@ TEST(TestUtils, TestCropPointcloudByHeight) sensor_msgs::msg::PointCloud2 test1_output, test2_output, test3_output; // case1: normal input, normal output - EXPECT_NO_THROW( - utils::cropPointcloudByHeight(ros_cloud_10, mock_buffer, "base_link", 0.0, 10.0, test1_output)); + EXPECT_NO_THROW(autoware::occupancy_grid_map::utils::cropPointcloudByHeight( + ros_cloud_10, mock_buffer, "base_link", 0.0, 10.0, test1_output)); // case2: normal input, empty output - EXPECT_NO_THROW(utils::cropPointcloudByHeight( + EXPECT_NO_THROW(autoware::occupancy_grid_map::utils::cropPointcloudByHeight( ros_cloud_10, mock_buffer, "base_link", -2.0, -0.1, test2_output)); // case3: empty input, normal output - EXPECT_NO_THROW( - utils::cropPointcloudByHeight(ros_cloud_0, mock_buffer, "base_link", 0.0, 10.0, test3_output)); + EXPECT_NO_THROW(autoware::occupancy_grid_map::utils::cropPointcloudByHeight( + ros_cloud_0, mock_buffer, "base_link", 0.0, 10.0, test3_output)); } From 552ffd0b24d89b327b1f2a98d41ab300eef924b1 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Mon, 8 Jul 2024 15:59:06 +0900 Subject: [PATCH 100/306] refactor(lanelet2_map_preprocessor): apply static analysis (#7870) * refactor based on linter Signed-off-by: a-maumau * style(pre-commit): autofix * apply suggestion Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/fix_lane_change_tags.cpp | 33 +++---- .../src/fix_z_value_by_pcd.cpp | 43 ++++---- .../src/merge_close_lines.cpp | 98 ++++++++----------- .../src/merge_close_points.cpp | 23 ++--- .../src/remove_unreferenced_geometry.cpp | 27 ++--- .../src/transform_maps.cpp | 27 ++--- 6 files changed, 116 insertions(+), 135 deletions(-) diff --git a/map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp b/map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp index cbd279af2b46f..571c2e91c53a5 100644 --- a/map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp +++ b/map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp @@ -27,10 +27,7 @@ #include #include -using lanelet::utils::getId; -using lanelet::utils::to2D; - -bool loadLaneletMap( +bool load_lanelet_map( const std::string & llt_map_path, lanelet::LaneletMapPtr & lanelet_map_ptr, lanelet::Projector & projector) { @@ -48,32 +45,32 @@ bool loadLaneletMap( return true; } -lanelet::Lanelets convertToVector(lanelet::LaneletMapPtr & lanelet_map_ptr) +lanelet::Lanelets convert_to_vector(const lanelet::LaneletMapPtr & lanelet_map_ptr) { lanelet::Lanelets lanelets; - for (lanelet::Lanelet lanelet : lanelet_map_ptr->laneletLayer) { - lanelets.push_back(lanelet); - } + std::copy( + lanelet_map_ptr->laneletLayer.begin(), lanelet_map_ptr->laneletLayer.end(), + std::back_inserter(lanelets)); return lanelets; } -void fixTags(lanelet::LaneletMapPtr & lanelet_map_ptr) +void fix_tags(lanelet::LaneletMapPtr & lanelet_map_ptr) { - auto lanelets = convertToVector(lanelet_map_ptr); - lanelet::traffic_rules::TrafficRulesPtr trafficRules = + auto lanelets = convert_to_vector(lanelet_map_ptr); + lanelet::traffic_rules::TrafficRulesPtr traffic_rules = lanelet::traffic_rules::TrafficRulesFactory::create( lanelet::Locations::Germany, lanelet::Participants::Vehicle); - lanelet::routing::RoutingGraphUPtr routingGraph = - lanelet::routing::RoutingGraph::build(*lanelet_map_ptr, *trafficRules); + lanelet::routing::RoutingGraphUPtr routing_graph = + lanelet::routing::RoutingGraph::build(*lanelet_map_ptr, *traffic_rules); for (auto & llt : lanelets) { - if (!routingGraph->conflicting(llt).empty()) { + if (!routing_graph->conflicting(llt).empty()) { continue; } llt.attributes().erase("turn_direction"); - if (!!routingGraph->adjacentRight(llt)) { + if (!!routing_graph->adjacentRight(llt)) { llt.rightBound().attributes()["lane_change"] = "yes"; } - if (!!routingGraph->adjacentLeft(llt)) { + if (!!routing_graph->adjacentLeft(llt)) { llt.leftBound().attributes()["lane_change"] = "yes"; } } @@ -91,11 +88,11 @@ int main(int argc, char * argv[]) lanelet::LaneletMapPtr llt_map_ptr(new lanelet::LaneletMap); lanelet::projection::MGRSProjector projector; - if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { + if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { return EXIT_FAILURE; } - fixTags(llt_map_ptr); + fix_tags(llt_map_ptr); lanelet::write(output_path, *llt_map_ptr, projector); rclcpp::shutdown(); diff --git a/map/util/lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp b/map/util/lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp index 14a33b01beee0..af565208c5f71 100644 --- a/map/util/lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp +++ b/map/util/lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp @@ -27,7 +27,7 @@ #include #include -bool loadLaneletMap( +bool load_lanelet_map( const std::string & llt_map_path, lanelet::LaneletMapPtr & lanelet_map_ptr, lanelet::Projector & projector) { @@ -45,7 +45,8 @@ bool loadLaneletMap( return true; } -bool loadPCDMap(const std::string & pcd_map_path, pcl::PointCloud::Ptr & pcd_map_ptr) +bool load_pcd_map( + const std::string & pcd_map_path, pcl::PointCloud::Ptr & pcd_map_ptr) { if (pcl::io::loadPCDFile(pcd_map_path, *pcd_map_ptr) == -1) { //* load the file RCLCPP_ERROR_STREAM(rclcpp::get_logger("loadPCDMap"), "Couldn't read file: " << pcd_map_path); @@ -56,16 +57,16 @@ bool loadPCDMap(const std::string & pcd_map_path, pcl::PointCloud return true; } -double getMinHeightAroundPoint( +double get_min_height_around_point( const pcl::PointCloud::Ptr & pcd_map_ptr, const pcl::KdTreeFLANN & kdtree, const pcl::PointXYZ & search_pt, const double search_radius3d, const double search_radius2d) { - std::vector pointIdxRadiusSearch; - std::vector pointRadiusSquaredDistance; + std::vector point_idx_radius_search; + std::vector point_radius_squared_distance; if ( kdtree.radiusSearch( - search_pt, search_radius3d, pointIdxRadiusSearch, pointRadiusSquaredDistance) <= 0) { + search_pt, search_radius3d, point_idx_radius_search, point_radius_squared_distance) <= 0) { std::cout << "no points found within 3d radius " << search_radius3d << std::endl; return search_pt.z; } @@ -73,8 +74,7 @@ double getMinHeightAroundPoint( double min_height = std::numeric_limits::max(); bool found = false; - for (std::size_t i = 0; i < pointIdxRadiusSearch.size(); i++) { - std::size_t pt_idx = pointIdxRadiusSearch.at(i); + for (auto pt_idx : point_idx_radius_search) { const auto pt = pcd_map_ptr->points.at(pt_idx); if (pt.z > min_height) { continue; @@ -91,8 +91,9 @@ double getMinHeightAroundPoint( return min_height; } -void adjustHeight( - const pcl::PointCloud::Ptr & pcd_map_ptr, lanelet::LaneletMapPtr & lanelet_map_ptr) +void adjust_height( + const pcl::PointCloud::Ptr & pcd_map_ptr, + const lanelet::LaneletMapPtr & lanelet_map_ptr) { std::unordered_set done; double search_radius2d = 0.5; @@ -107,11 +108,11 @@ void adjustHeight( continue; } pcl::PointXYZ pcl_pt; - pcl_pt.x = pt.x(); - pcl_pt.y = pt.y(); - pcl_pt.z = pt.z(); + pcl_pt.x = static_cast(pt.x()); + pcl_pt.y = static_cast(pt.y()); + pcl_pt.z = static_cast(pt.z()); double min_height = - getMinHeightAroundPoint(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); + get_min_height_around_point(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); std::cout << "moving from " << pt.z() << " to " << min_height << std::endl; pt.z() = min_height; done.insert(pt.id()); @@ -121,11 +122,11 @@ void adjustHeight( continue; } pcl::PointXYZ pcl_pt; - pcl_pt.x = pt.x(); - pcl_pt.y = pt.y(); - pcl_pt.z = pt.z(); + pcl_pt.x = static_cast(pt.x()); + pcl_pt.y = static_cast(pt.y()); + pcl_pt.z = static_cast(pt.z()); double min_height = - getMinHeightAroundPoint(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); + get_min_height_around_point(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); std::cout << "moving from " << pt.z() << " to " << min_height << std::endl; pt.z() = min_height; done.insert(pt.id()); @@ -148,14 +149,14 @@ int main(int argc, char * argv[]) pcl::PointCloud::Ptr pcd_map_ptr(new pcl::PointCloud); - if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { + if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { return EXIT_FAILURE; } - if (!loadPCDMap(pcd_map_path, pcd_map_ptr)) { + if (!load_pcd_map(pcd_map_path, pcd_map_ptr)) { return EXIT_FAILURE; } - adjustHeight(pcd_map_ptr, llt_map_ptr); + adjust_height(pcd_map_ptr, llt_map_ptr); lanelet::write(llt_output_path, *llt_map_ptr, projector); rclcpp::shutdown(); diff --git a/map/util/lanelet2_map_preprocessor/src/merge_close_lines.cpp b/map/util/lanelet2_map_preprocessor/src/merge_close_lines.cpp index e0d071ea11dc1..0e40d04a2cec3 100644 --- a/map/util/lanelet2_map_preprocessor/src/merge_close_lines.cpp +++ b/map/util/lanelet2_map_preprocessor/src/merge_close_lines.cpp @@ -26,10 +26,7 @@ #include #include -using lanelet::utils::getId; -using lanelet::utils::to2D; - -bool loadLaneletMap( +bool load_lanelet_map( const std::string & llt_map_path, lanelet::LaneletMapPtr & lanelet_map_ptr, lanelet::Projector & projector) { @@ -47,21 +44,17 @@ bool loadLaneletMap( return true; } -bool exists(std::unordered_set & set, lanelet::Id element) -{ - return set.find(element) != set.end(); -} - -lanelet::LineStrings3d convertLineLayerToLineStrings(lanelet::LaneletMapPtr & lanelet_map_ptr) +lanelet::LineStrings3d convert_line_layer_to_line_strings( + const lanelet::LaneletMapPtr & lanelet_map_ptr) { lanelet::LineStrings3d lines; - for (const lanelet::LineString3d & line : lanelet_map_ptr->lineStringLayer) { - lines.push_back(line); - } + std::copy( + lanelet_map_ptr->lineStringLayer.begin(), lanelet_map_ptr->lineStringLayer.end(), + std::back_inserter(lines)); return lines; } -lanelet::ConstPoint3d get3DPointFrom2DArcLength( +lanelet::ConstPoint3d get3d_point_from2d_arc_length( const lanelet::ConstLineString3d & line, const double s) { double accumulated_distance2d = 0; @@ -71,27 +64,23 @@ lanelet::ConstPoint3d get3DPointFrom2DArcLength( auto prev_pt = line.front(); for (size_t i = 1; i < line.size(); i++) { const auto & pt = line[i]; - double distance2d = lanelet::geometry::distance2d(to2D(prev_pt), to2D(pt)); + double distance2d = + lanelet::geometry::distance2d(lanelet::utils::to2D(prev_pt), lanelet::utils::to2D(pt)); if (accumulated_distance2d + distance2d >= s) { double ratio = (s - accumulated_distance2d) / distance2d; auto interpolated_pt = prev_pt.basicPoint() * (1 - ratio) + pt.basicPoint() * ratio; std::cout << interpolated_pt << std::endl; - return lanelet::ConstPoint3d( - lanelet::utils::getId(), interpolated_pt.x(), interpolated_pt.y(), interpolated_pt.z()); + return lanelet::ConstPoint3d{ + lanelet::utils::getId(), interpolated_pt.x(), interpolated_pt.y(), interpolated_pt.z()}; } accumulated_distance2d += distance2d; prev_pt = pt; } RCLCPP_ERROR(rclcpp::get_logger("merge_close_lines"), "interpolation failed"); - return lanelet::ConstPoint3d(); -} - -double getLineLength(const lanelet::ConstLineString3d & line) -{ - return boost::geometry::length(line.basicLineString()); + return {}; } -bool areLinesSame( +bool are_lines_same( const lanelet::ConstLineString3d & line1, const lanelet::ConstLineString3d & line2) { bool same_ends = false; @@ -105,66 +94,63 @@ bool areLinesSame( return false; } - double sum_distance = 0; - for (const auto & pt : line1) { - sum_distance += boost::geometry::distance(pt.basicPoint(), line2); - } - for (const auto & pt : line2) { - sum_distance += boost::geometry::distance(pt.basicPoint(), line1); - } + double sum_distance = + std::accumulate(line1.begin(), line1.end(), 0.0, [&line2](double sum, const auto & pt) { + return sum + boost::geometry::distance(pt.basicPoint(), line2); + }); + sum_distance += + std::accumulate(line2.begin(), line2.end(), 0.0, [&line1](double sum, const auto & pt) { + return sum + boost::geometry::distance(pt.basicPoint(), line1); + }); - double avg_distance = sum_distance / (line1.size() + line2.size()); + double avg_distance = sum_distance / static_cast(line1.size() + line2.size()); std::cout << line1 << " " << line2 << " " << avg_distance << std::endl; - if (avg_distance < 1.0) { - return true; - } else { - return false; - } + return avg_distance < 1.0; } -lanelet::BasicPoint3d getClosestPointOnLine( +lanelet::BasicPoint3d get_closest_point_on_line( const lanelet::BasicPoint3d & search_point, const lanelet::ConstLineString3d & line) { - auto arc_coordinate = lanelet::geometry::toArcCoordinates(to2D(line), to2D(search_point)); + auto arc_coordinate = lanelet::geometry::toArcCoordinates( + lanelet::utils::to2D(line), lanelet::utils::to2D(search_point)); std::cout << arc_coordinate.length << " " << arc_coordinate.distance << std::endl; - return get3DPointFrom2DArcLength(line, arc_coordinate.length).basicPoint(); + return get3d_point_from2d_arc_length(line, arc_coordinate.length).basicPoint(); } -lanelet::LineString3d mergeTwoLines( +lanelet::LineString3d merge_two_lines( const lanelet::LineString3d & line1, const lanelet::ConstLineString3d & line2) { lanelet::Points3d new_points; for (const auto & p1 : line1) { - lanelet::BasicPoint3d p1_basic_point = p1.basicPoint(); - lanelet::BasicPoint3d p2_basic_point = getClosestPointOnLine(p1, line2); + const lanelet::BasicPoint3d & p1_basic_point = p1.basicPoint(); + lanelet::BasicPoint3d p2_basic_point = get_closest_point_on_line(p1, line2); lanelet::BasicPoint3d new_basic_point = (p1_basic_point + p2_basic_point) / 2; lanelet::Point3d new_point(lanelet::utils::getId(), new_basic_point); new_points.push_back(new_point); } - return lanelet::LineString3d(lanelet::utils::getId(), new_points); + return lanelet::LineString3d{lanelet::utils::getId(), new_points}; } -void copyData(lanelet::LineString3d & dst, lanelet::LineString3d & src) +void copy_data(lanelet::LineString3d & dst, const lanelet::LineString3d & src) { - lanelet::Points3d points; dst.clear(); - for (lanelet::Point3d & pt : src) { - dst.push_back(pt); + for (const lanelet::ConstPoint3d & pt : src) { + dst.push_back(static_cast(pt)); } } -void mergeLines(lanelet::LaneletMapPtr & lanelet_map_ptr) +void merge_lines(lanelet::LaneletMapPtr & lanelet_map_ptr) { - auto lines = convertLineLayerToLineStrings(lanelet_map_ptr); + auto lines = convert_line_layer_to_line_strings(lanelet_map_ptr); for (size_t i = 0; i < lines.size(); i++) { auto line_i = lines.at(i); for (size_t j = 0; j < i; j++) { auto line_j = lines.at(j); - if (areLinesSame(line_i, line_j)) { - auto merged_line = mergeTwoLines(line_i, line_j); - copyData(line_i, merged_line); - copyData(line_j, merged_line); + if (are_lines_same(line_i, line_j)) { + auto merged_line = merge_two_lines(line_i, line_j); + copy_data(line_i, merged_line); + copy_data(line_j, merged_line); line_i.setId(line_j.id()); std::cout << line_j << " " << line_i << std::endl; // lanelet_map_ptr->add(merged_line); @@ -189,11 +175,11 @@ int main(int argc, char * argv[]) lanelet::LaneletMapPtr llt_map_ptr(new lanelet::LaneletMap); lanelet::projection::MGRSProjector projector; - if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { + if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { return EXIT_FAILURE; } - mergeLines(llt_map_ptr); + merge_lines(llt_map_ptr); lanelet::write(output_path, *llt_map_ptr, projector); rclcpp::shutdown(); diff --git a/map/util/lanelet2_map_preprocessor/src/merge_close_points.cpp b/map/util/lanelet2_map_preprocessor/src/merge_close_points.cpp index e18a366003e10..3cbbffc702019 100644 --- a/map/util/lanelet2_map_preprocessor/src/merge_close_points.cpp +++ b/map/util/lanelet2_map_preprocessor/src/merge_close_points.cpp @@ -25,7 +25,7 @@ #include #include -bool loadLaneletMap( +bool load_lanelet_map( const std::string & llt_map_path, lanelet::LaneletMapPtr & lanelet_map_ptr, lanelet::Projector & projector) { @@ -43,17 +43,12 @@ bool loadLaneletMap( return true; } -bool exists(std::unordered_set & set, lanelet::Id element) -{ - return set.find(element) != set.end(); -} - -lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr) +lanelet::Points3d convert_points_layer_to_points(const lanelet::LaneletMapPtr & lanelet_map_ptr) { lanelet::Points3d points; - for (const lanelet::Point3d & pt : lanelet_map_ptr->pointLayer) { - points.push_back(pt); - } + std::copy( + lanelet_map_ptr->pointLayer.begin(), lanelet_map_ptr->pointLayer.end(), + std::back_inserter(points)); return points; } @@ -72,9 +67,9 @@ lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_ma // return lanelet::LineString3d(lanelet::utils::getId(), new_points); // } -void mergePoints(lanelet::LaneletMapPtr & lanelet_map_ptr) +void merge_points(const lanelet::LaneletMapPtr & lanelet_map_ptr) { - const auto & points = convertPointsLayerToPoints(lanelet_map_ptr); + const auto & points = convert_points_layer_to_points(lanelet_map_ptr); for (size_t i = 0; i < points.size(); i++) { auto point_i = points.at(i); @@ -109,11 +104,11 @@ int main(int argc, char * argv[]) lanelet::LaneletMapPtr llt_map_ptr(new lanelet::LaneletMap); lanelet::projection::MGRSProjector projector; - if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { + if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { return EXIT_FAILURE; } - mergePoints(llt_map_ptr); + merge_points(llt_map_ptr); lanelet::write(output_path, *llt_map_ptr, projector); rclcpp::shutdown(); diff --git a/map/util/lanelet2_map_preprocessor/src/remove_unreferenced_geometry.cpp b/map/util/lanelet2_map_preprocessor/src/remove_unreferenced_geometry.cpp index 633dae4e20c1d..3ab10551e36f9 100644 --- a/map/util/lanelet2_map_preprocessor/src/remove_unreferenced_geometry.cpp +++ b/map/util/lanelet2_map_preprocessor/src/remove_unreferenced_geometry.cpp @@ -25,7 +25,7 @@ #include #include -bool loadLaneletMap( +bool load_lanelet_map( const std::string & llt_map_path, lanelet::LaneletMapPtr & lanelet_map_ptr, lanelet::Projector & projector) { @@ -43,28 +43,29 @@ bool loadLaneletMap( return true; } -lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr) +lanelet::Points3d convert_points_layer_to_points(const lanelet::LaneletMapPtr & lanelet_map_ptr) { lanelet::Points3d points; - for (const lanelet::Point3d & pt : lanelet_map_ptr->pointLayer) { - points.push_back(pt); - } + std::copy( + lanelet_map_ptr->pointLayer.begin(), lanelet_map_ptr->pointLayer.end(), + std::back_inserter(points)); return points; } -lanelet::LineStrings3d convertLineLayerToLineStrings(lanelet::LaneletMapPtr & lanelet_map_ptr) +lanelet::LineStrings3d convert_line_layer_to_line_strings( + const lanelet::LaneletMapPtr & lanelet_map_ptr) { lanelet::LineStrings3d lines; - for (const lanelet::LineString3d & line : lanelet_map_ptr->lineStringLayer) { - lines.push_back(line); - } + std::copy( + lanelet_map_ptr->lineStringLayer.begin(), lanelet_map_ptr->lineStringLayer.end(), + std::back_inserter(lines)); return lines; } -void removeUnreferencedGeometry(lanelet::LaneletMapPtr & lanelet_map_ptr) +void remove_unreferenced_geometry(lanelet::LaneletMapPtr & lanelet_map_ptr) { lanelet::LaneletMapPtr new_map(new lanelet::LaneletMap); - for (auto llt : lanelet_map_ptr->laneletLayer) { + for (const auto & llt : lanelet_map_ptr->laneletLayer) { new_map->add(llt); } lanelet_map_ptr = new_map; @@ -82,10 +83,10 @@ int main(int argc, char * argv[]) lanelet::LaneletMapPtr llt_map_ptr(new lanelet::LaneletMap); lanelet::projection::MGRSProjector projector; - if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { + if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { return EXIT_FAILURE; } - removeUnreferencedGeometry(llt_map_ptr); + remove_unreferenced_geometry(llt_map_ptr); lanelet::write(output_path, *llt_map_ptr, projector); rclcpp::shutdown(); diff --git a/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp b/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp index d29df716b11e7..d55e03c7faee5 100644 --- a/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp +++ b/map/util/lanelet2_map_preprocessor/src/transform_maps.cpp @@ -27,7 +27,7 @@ #include #include -bool loadLaneletMap( +bool load_lanelet_map( const std::string & llt_map_path, lanelet::LaneletMapPtr & lanelet_map_ptr, lanelet::Projector & projector) { @@ -45,7 +45,8 @@ bool loadLaneletMap( return true; } -bool loadPCDMap(const std::string & pcd_map_path, pcl::PointCloud::Ptr & pcd_map_ptr) +bool load_pcd_map( + const std::string & pcd_map_path, pcl::PointCloud::Ptr & pcd_map_ptr) { if (pcl::io::loadPCDFile(pcd_map_path, *pcd_map_ptr) == -1) { //* load the file RCLCPP_ERROR_STREAM(rclcpp::get_logger("loadPCDMap"), "Couldn't read file: " << pcd_map_path); @@ -56,9 +57,9 @@ bool loadPCDMap(const std::string & pcd_map_path, pcl::PointCloud return true; } -void transformMaps( - pcl::PointCloud::Ptr & pcd_map_ptr, lanelet::LaneletMapPtr & lanelet_map_ptr, - const Eigen::Affine3d affine) +void transform_maps( + const pcl::PointCloud::Ptr & pcd_map_ptr, + const lanelet::LaneletMapPtr & lanelet_map_ptr, const Eigen::Affine3d & affine) { { for (lanelet::Point3d & pt : lanelet_map_ptr->pointLayer) { @@ -74,14 +75,14 @@ void transformMaps( for (auto & pt : pcd_map_ptr->points) { Eigen::Vector3d eigen_pt(pt.x, pt.y, pt.z); auto transformed_pt = affine * eigen_pt; - pt.x = transformed_pt.x(); - pt.y = transformed_pt.y(); - pt.z = transformed_pt.z(); + pt.x = static_cast(transformed_pt.x()); + pt.y = static_cast(transformed_pt.y()); + pt.z = static_cast(transformed_pt.z()); } } } -Eigen::Affine3d createAffineMatrixFromXYZRPY( +Eigen::Affine3d create_affine_matrix_from_xyzrpy( const double x, const double y, const double z, const double roll, const double pitch, const double yaw) { @@ -127,19 +128,19 @@ int main(int argc, char * argv[]) pcl::PointCloud::Ptr pcd_map_ptr(new pcl::PointCloud); - if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { + if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { return EXIT_FAILURE; } - if (!loadPCDMap(pcd_map_path, pcd_map_ptr)) { + if (!load_pcd_map(pcd_map_path, pcd_map_ptr)) { return EXIT_FAILURE; } - Eigen::Affine3d affine = createAffineMatrixFromXYZRPY(x, y, z, roll, pitch, yaw); + Eigen::Affine3d affine = create_affine_matrix_from_xyzrpy(x, y, z, roll, pitch, yaw); const auto mgrs_grid = node->declare_parameter("mgrs_grid", projector.getProjectedMGRSGrid()); std::cout << "using mgrs grid: " << mgrs_grid << std::endl; - transformMaps(pcd_map_ptr, llt_map_ptr, affine); + transform_maps(pcd_map_ptr, llt_map_ptr, affine); lanelet::write(llt_output_path, *llt_map_ptr, projector); pcl::io::savePCDFileBinary(pcd_output_path, *pcd_map_ptr); From ab87ef155cac2859d3b40658ab6f176f2e9dd0d8 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 8 Jul 2024 16:22:41 +0900 Subject: [PATCH 101/306] fix(pointcloud_preprocessor): fix the bug where the geometry message was not saved correctly. (#7886) * fix: fix bug that geometry message didn't save correctly Signed-off-by: vividf * chore: change some functions from public to protected Signed-off-by: vividf --------- Signed-off-by: vividf Co-authored-by: Kenzo Lobos Tsunekawa --- .../distortion_corrector.hpp | 36 +++++++++---------- .../distortion_corrector.cpp | 19 +++++----- 2 files changed, 25 insertions(+), 30 deletions(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp index 6f372f0e74646..8a7b7c90113da 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp @@ -61,7 +61,8 @@ class DistortionCorrectorBase template class DistortionCorrector : public DistortionCorrectorBase { -public: +protected: + geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr_; bool pointcloud_transform_needed_{false}; bool pointcloud_transform_exists_{false}; bool imu_transform_exists_{false}; @@ -72,28 +73,12 @@ class DistortionCorrector : public DistortionCorrectorBase std::deque twist_queue_; std::deque angular_velocity_queue_; - explicit DistortionCorrector(rclcpp::Node * node) - : node_(node), tf_buffer_(node_->get_clock()), tf_listener_(tf_buffer_) - { - } - void processTwistMessage( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) override; - - void processIMUMessage( - const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) override; - void getIMUTransformation( - const std::string & base_frame, const std::string & imu_frame, - geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr); - void enqueueIMU( - const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg, - geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr); - - bool isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud); + void getIMUTransformation(const std::string & base_frame, const std::string & imu_frame); + void enqueueIMU(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); void getTwistAndIMUIterator( bool use_imu, double first_point_time_stamp_sec, std::deque::iterator & it_twist, std::deque::iterator & it_imu); - void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) override; void warnIfTimestampIsTooLate(bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late); void undistortPoint( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, @@ -105,6 +90,19 @@ class DistortionCorrector : public DistortionCorrectorBase static_cast(this)->undistortPointImplementation( it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); }; + +public: + explicit DistortionCorrector(rclcpp::Node * node) + : node_(node), tf_buffer_(node_->get_clock()), tf_listener_(tf_buffer_) + { + } + void processTwistMessage( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) override; + + void processIMUMessage( + const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) override; + void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) override; + bool isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud); }; class DistortionCorrector2D : public DistortionCorrector diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index 81c29a9f6202a..8c8752c7e278e 100644 --- a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -47,21 +47,20 @@ template void DistortionCorrector::processIMUMessage( const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) { - geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr = - std::make_shared(); - getIMUTransformation(base_frame, imu_msg->header.frame_id, geometry_imu_to_base_link_ptr); - enqueueIMU(imu_msg, geometry_imu_to_base_link_ptr); + getIMUTransformation(base_frame, imu_msg->header.frame_id); + enqueueIMU(imu_msg); } template void DistortionCorrector::getIMUTransformation( - const std::string & base_frame, const std::string & imu_frame, - geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr) + const std::string & base_frame, const std::string & imu_frame) { if (imu_transform_exists_) { return; } + geometry_imu_to_base_link_ptr_ = std::make_shared(); + tf2::Transform tf2_imu_to_base_link; if (base_frame == imu_frame) { tf2_imu_to_base_link.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); @@ -83,20 +82,18 @@ void DistortionCorrector::getIMUTransformation( } } - geometry_imu_to_base_link_ptr->transform.rotation = + geometry_imu_to_base_link_ptr_->transform.rotation = tf2::toMsg(tf2_imu_to_base_link.getRotation()); } template -void DistortionCorrector::enqueueIMU( - const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg, - geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr) +void DistortionCorrector::enqueueIMU(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) { geometry_msgs::msg::Vector3Stamped angular_velocity; angular_velocity.vector = imu_msg->angular_velocity; geometry_msgs::msg::Vector3Stamped transformed_angular_velocity; - tf2::doTransform(angular_velocity, transformed_angular_velocity, *geometry_imu_to_base_link_ptr); + tf2::doTransform(angular_velocity, transformed_angular_velocity, *geometry_imu_to_base_link_ptr_); transformed_angular_velocity.header = imu_msg->header; angular_velocity_queue_.push_back(transformed_angular_velocity); From 1d6ff8e6a61fcc9ccbd0f074d873b4df644672c0 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 8 Jul 2024 16:30:07 +0900 Subject: [PATCH 102/306] refactor(multi_object_tracker)!: fix namespace and directory structure (#7863) * refactor: update include paths for debugger and processor modules Signed-off-by: Taekjin LEE * refactor: update include paths for debugger and processor modules Signed-off-by: Taekjin LEE * refactor: move include files into 'autoware' Signed-off-by: Taekjin LEE * refactor: set namespace Signed-off-by: Taekjin LEE * refactor: refine logics to pass cppcheck Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../multi_object_tracker/CMakeLists.txt | 44 ++++++++++--------- .../association/association.hpp} | 14 +++--- .../association}/solver/gnn_solver.hpp | 12 ++--- .../solver/gnn_solver_interface.hpp | 10 +++-- .../association/solver/mu_ssp.hpp} | 12 +++-- .../association/solver/ssp.hpp} | 12 +++-- .../tracker/model/bicycle_tracker.hpp | 17 ++++--- .../tracker/model/big_vehicle_tracker.hpp | 17 ++++--- .../model/multiple_vehicle_tracker.hpp | 17 ++++--- .../tracker/model/normal_vehicle_tracker.hpp | 17 ++++--- .../tracker/model/pass_through_tracker.hpp | 11 +++-- .../model/pedestrian_and_bicycle_tracker.hpp | 17 ++++--- .../tracker/model/pedestrian_tracker.hpp | 19 ++++---- .../tracker/model/tracker_base.hpp | 13 ++++-- .../tracker/model/unknown_tracker.hpp | 15 ++++--- .../motion_model/bicycle_motion_model.hpp | 13 ++++-- .../motion_model/ctrv_motion_model.hpp | 14 +++--- .../tracker/motion_model/cv_motion_model.hpp | 13 ++++-- .../motion_model/motion_model_base.hpp | 11 +++-- .../tracker/object_model/object_model.hpp | 10 +++-- .../multi_object_tracker/tracker/tracker.hpp | 6 +-- .../multi_object_tracker/utils/utils.hpp | 6 +-- .../association/association.cpp} | 11 +++-- .../mu_successive_shortest_path/mu_ssp.cpp} | 6 ++- .../successive_shortest_path/ssp.cpp} | 6 ++- .../tracker/model/bicycle_tracker.cpp | 9 +++- .../tracker/model/big_vehicle_tracker.cpp | 8 +++- .../model/multiple_vehicle_tracker.cpp | 7 ++- .../tracker/model/normal_vehicle_tracker.cpp | 9 +++- .../tracker/model/pass_through_tracker.cpp | 9 +++- .../model/pedestrian_and_bicycle_tracker.cpp | 7 ++- .../tracker/model/pedestrian_tracker.cpp | 9 +++- .../tracker/model/tracker_base.cpp | 9 +++- .../tracker/model/unknown_tracker.cpp | 9 +++- .../motion_model/bicycle_motion_model.cpp | 11 +++-- .../motion_model/ctrv_motion_model.cpp | 10 +++-- .../tracker/motion_model/cv_motion_model.cpp | 10 +++-- .../motion_model/motion_model_base.cpp | 7 ++- .../src/debugger/debug_object.cpp | 9 +++- .../debugger/debug_object.hpp | 13 ++++-- .../src/debugger/debugger.cpp | 6 ++- .../debugger/debugger.hpp | 13 ++++-- ...core.cpp => multi_object_tracker_node.cpp} | 19 ++++---- .../multi_object_tracker_node.hpp} | 22 +++++----- .../src/processor/input_manager.cpp | 32 ++++++++------ .../processor/input_manager.hpp | 10 ++--- .../src/processor/processor.cpp | 9 +++- .../processor/processor.hpp | 12 +++-- 48 files changed, 398 insertions(+), 204 deletions(-) rename perception/multi_object_tracker/include/{multi_object_tracker/data_association/data_association.hpp => autoware/multi_object_tracker/association/association.hpp} (81%) rename perception/multi_object_tracker/include/{multi_object_tracker/data_association => autoware/multi_object_tracker/association}/solver/gnn_solver.hpp (55%) rename perception/multi_object_tracker/include/{multi_object_tracker/data_association => autoware/multi_object_tracker/association}/solver/gnn_solver_interface.hpp (73%) rename perception/multi_object_tracker/include/{multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp => autoware/multi_object_tracker/association/solver/mu_ssp.hpp} (71%) rename perception/multi_object_tracker/include/{multi_object_tracker/data_association/solver/successive_shortest_path.hpp => autoware/multi_object_tracker/association/solver/ssp.hpp} (71%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/model/bicycle_tracker.hpp (78%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp (78%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp (71%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp (78%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/model/pass_through_tracker.hpp (81%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp (71%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/model/pedestrian_tracker.hpp (78%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/model/tracker_base.hpp (91%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/model/unknown_tracker.hpp (80%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp (87%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp (86%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp (84%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/motion_model/motion_model_base.hpp (85%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/object_model/object_model.hpp (96%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/tracker/tracker.hpp (84%) rename perception/multi_object_tracker/include/{ => autoware}/multi_object_tracker/utils/utils.hpp (98%) rename perception/multi_object_tracker/{src/data_association/data_association.cpp => lib/association/association.cpp} (96%) rename perception/multi_object_tracker/{src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp => lib/association/mu_successive_shortest_path/mu_ssp.cpp} (88%) rename perception/multi_object_tracker/{src/data_association/successive_shortest_path/successive_shortest_path.cpp => lib/association/successive_shortest_path/ssp.cpp} (98%) rename perception/multi_object_tracker/{src => lib}/tracker/model/bicycle_tracker.cpp (98%) rename perception/multi_object_tracker/{src => lib}/tracker/model/big_vehicle_tracker.cpp (98%) rename perception/multi_object_tracker/{src => lib}/tracker/model/multiple_vehicle_tracker.cpp (93%) rename perception/multi_object_tracker/{src => lib}/tracker/model/normal_vehicle_tracker.cpp (98%) rename perception/multi_object_tracker/{src => lib}/tracker/model/pass_through_tracker.cpp (95%) rename perception/multi_object_tracker/{src => lib}/tracker/model/pedestrian_and_bicycle_tracker.cpp (93%) rename perception/multi_object_tracker/{src => lib}/tracker/model/pedestrian_tracker.cpp (98%) rename perception/multi_object_tracker/{src => lib}/tracker/model/tracker_base.cpp (96%) rename perception/multi_object_tracker/{src => lib}/tracker/model/unknown_tracker.cpp (97%) rename perception/multi_object_tracker/{src => lib}/tracker/motion_model/bicycle_motion_model.cpp (98%) rename perception/multi_object_tracker/{src => lib}/tracker/motion_model/ctrv_motion_model.cpp (97%) rename perception/multi_object_tracker/{src => lib}/tracker/motion_model/cv_motion_model.cpp (97%) rename perception/multi_object_tracker/{src => lib}/tracker/motion_model/motion_model_base.cpp (93%) rename perception/multi_object_tracker/{include/multi_object_tracker => src}/debugger/debug_object.hpp (91%) rename perception/multi_object_tracker/{include/multi_object_tracker => src}/debugger/debugger.hpp (94%) rename perception/multi_object_tracker/src/{multi_object_tracker_core.cpp => multi_object_tracker_node.cpp} (96%) rename perception/multi_object_tracker/{include/multi_object_tracker/multi_object_tracker_core.hpp => src/multi_object_tracker_node.hpp} (82%) rename perception/multi_object_tracker/{include/multi_object_tracker => src}/processor/input_manager.hpp (95%) rename perception/multi_object_tracker/{include/multi_object_tracker => src}/processor/processor.hpp (91%) diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index 4f9268583dd34..370e5bb0b9161 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -20,32 +20,34 @@ include_directories( ) # Generate exe file -set(MULTI_OBJECT_TRACKER_SRC - src/multi_object_tracker_core.cpp +set(${PROJECT_NAME}_src + src/multi_object_tracker_node.cpp src/debugger/debugger.cpp src/debugger/debug_object.cpp src/processor/processor.cpp src/processor/input_manager.cpp - src/data_association/data_association.cpp - src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp - src/tracker/motion_model/motion_model_base.cpp - src/tracker/motion_model/bicycle_motion_model.cpp +) +set(${PROJECT_NAME}_lib + lib/association/association.cpp + lib/association/mu_successive_shortest_path/mu_ssp.cpp + lib/tracker/motion_model/motion_model_base.cpp + lib/tracker/motion_model/bicycle_motion_model.cpp # cspell: ignore ctrv - src/tracker/motion_model/ctrv_motion_model.cpp - src/tracker/motion_model/cv_motion_model.cpp - src/tracker/model/tracker_base.cpp - src/tracker/model/big_vehicle_tracker.cpp - src/tracker/model/normal_vehicle_tracker.cpp - src/tracker/model/multiple_vehicle_tracker.cpp - src/tracker/model/bicycle_tracker.cpp - src/tracker/model/pedestrian_tracker.cpp - src/tracker/model/pedestrian_and_bicycle_tracker.cpp - src/tracker/model/unknown_tracker.cpp - src/tracker/model/pass_through_tracker.cpp + lib/tracker/motion_model/ctrv_motion_model.cpp + lib/tracker/motion_model/cv_motion_model.cpp + lib/tracker/model/tracker_base.cpp + lib/tracker/model/big_vehicle_tracker.cpp + lib/tracker/model/normal_vehicle_tracker.cpp + lib/tracker/model/multiple_vehicle_tracker.cpp + lib/tracker/model/bicycle_tracker.cpp + lib/tracker/model/pedestrian_tracker.cpp + lib/tracker/model/pedestrian_and_bicycle_tracker.cpp + lib/tracker/model/unknown_tracker.cpp + lib/tracker/model/pass_through_tracker.cpp ) - ament_auto_add_library(${PROJECT_NAME} SHARED - ${MULTI_OBJECT_TRACKER_SRC} + ${${PROJECT_NAME}_src} + ${${PROJECT_NAME}_lib} ) target_link_libraries(${PROJECT_NAME} @@ -54,8 +56,8 @@ target_link_libraries(${PROJECT_NAME} ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "multi_object_tracker::MultiObjectTracker" - EXECUTABLE ${PROJECT_NAME}_node + PLUGIN "autoware::multi_object_tracker::MultiObjectTracker" + EXECUTABLE multi_object_tracker_node ) ament_auto_package(INSTALL_TO_SHARE diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp similarity index 81% rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp index c30423db02c26..2c12341d0aa67 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp @@ -16,13 +16,13 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_ -#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__ASSOCIATION_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__ASSOCIATION_HPP_ #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/data_association/solver/gnn_solver.hpp" -#include "multi_object_tracker/tracker/tracker.hpp" +#include "autoware/multi_object_tracker/association/solver/gnn_solver.hpp" +#include "autoware/multi_object_tracker/tracker/tracker.hpp" #include #include @@ -34,6 +34,8 @@ #include #include +namespace autoware::multi_object_tracker +{ class DataAssociation { private: @@ -61,4 +63,6 @@ class DataAssociation virtual ~DataAssociation() {} }; -#endif // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__ASSOCIATION_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp similarity index 55% rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp index 631fd73f8583d..3b72b800e86bc 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ -#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ -#include "multi_object_tracker/data_association/solver/gnn_solver_interface.hpp" -#include "multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp" -#include "multi_object_tracker/data_association/solver/successive_shortest_path.hpp" +#include "autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp" +#include "autoware/multi_object_tracker/association/solver/mu_ssp.hpp" +#include "autoware/multi_object_tracker/association/solver/ssp.hpp" -#endif // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver_interface.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp similarity index 73% rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver_interface.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp index 1fb508bcf12b2..88f9181d96d9b 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver_interface.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp @@ -12,12 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ -#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ #include #include +namespace autoware::multi_object_tracker +{ namespace gnn_solver { class GnnSolverInterface @@ -30,6 +32,8 @@ class GnnSolverInterface const std::vector> & cost, std::unordered_map * direct_assignment, std::unordered_map * reverse_assignment) = 0; }; + } // namespace gnn_solver +} // namespace autoware::multi_object_tracker -#endif // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp similarity index 71% rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp index a4d9d727e6cc5..024670c3389c6 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp @@ -12,14 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_ -#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_ -#include "multi_object_tracker/data_association/solver/gnn_solver_interface.hpp" +#include "autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp" #include #include +namespace autoware::multi_object_tracker +{ namespace gnn_solver { class MuSSP : public GnnSolverInterface @@ -32,6 +34,8 @@ class MuSSP : public GnnSolverInterface const std::vector> & cost, std::unordered_map * direct_assignment, std::unordered_map * reverse_assignment) override; }; + } // namespace gnn_solver +} // namespace autoware::multi_object_tracker -#endif // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_ +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/successive_shortest_path.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp similarity index 71% rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/successive_shortest_path.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp index 1c4b15cd68b59..0f987fc49ee7c 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/successive_shortest_path.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp @@ -12,14 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_ -#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_ -#include "multi_object_tracker/data_association/solver/gnn_solver_interface.hpp" +#include "autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp" #include #include +namespace autoware::multi_object_tracker +{ namespace gnn_solver { class SSP : public GnnSolverInterface @@ -32,6 +34,8 @@ class SSP : public GnnSolverInterface const std::vector> & cost, std::unordered_map * direct_assignment, std::unordered_map * reverse_assignment) override; }; + } // namespace gnn_solver +} // namespace autoware::multi_object_tracker -#endif // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_ +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp similarity index 78% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp index 63ad496b70ed9..5374e28d5f9cf 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp @@ -16,13 +16,16 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_ +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/model/tracker_base.hpp" -#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" -#include "multi_object_tracker/tracker/object_model/object_model.hpp" + +namespace autoware::multi_object_tracker +{ class BicycleTracker : public Tracker { @@ -67,4 +70,6 @@ class BicycleTracker : public Tracker const geometry_msgs::msg::Transform & self_transform) const; }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp similarity index 78% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp index 7112e6a08ade1..c3f824aff35b4 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp @@ -16,13 +16,16 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/model/tracker_base.hpp" -#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" -#include "multi_object_tracker/tracker/object_model/object_model.hpp" + +namespace autoware::multi_object_tracker +{ class BigVehicleTracker : public Tracker { @@ -70,4 +73,6 @@ class BigVehicleTracker : public Tracker const geometry_msgs::msg::Transform & self_transform); }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp similarity index 71% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp index 75aec0b06d6b8..a0a6bd7781761 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp @@ -16,16 +16,19 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ +#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" -#include "multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" -#include "multi_object_tracker/tracker/model/tracker_base.hpp" #include +namespace autoware::multi_object_tracker +{ + class MultipleVehicleTracker : public Tracker { private: @@ -48,4 +51,6 @@ class MultipleVehicleTracker : public Tracker virtual ~MultipleVehicleTracker() {} }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp similarity index 78% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp index 1165cecab258b..f7edebfc31378 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp @@ -16,13 +16,16 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/model/tracker_base.hpp" -#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" -#include "multi_object_tracker/tracker/object_model/object_model.hpp" + +namespace autoware::multi_object_tracker +{ class NormalVehicleTracker : public Tracker { @@ -70,4 +73,6 @@ class NormalVehicleTracker : public Tracker const geometry_msgs::msg::Transform & self_transform); }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp similarity index 81% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp index cd661dab52c6e..e7f0a5fd699e1 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp @@ -16,12 +16,15 @@ // Author: v1.0 Yutaka Shimizu // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_ #include "kalman_filter/kalman_filter.hpp" #include "tracker_base.hpp" +namespace autoware::multi_object_tracker +{ + class PassThroughTracker : public Tracker { private: @@ -44,4 +47,6 @@ class PassThroughTracker : public Tracker autoware_perception_msgs::msg::TrackedObject & object) const override; }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp similarity index 71% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp index 3c3ac038b085e..f593280c2e183 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp @@ -16,13 +16,16 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_ +#include "autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/model/bicycle_tracker.hpp" -#include "multi_object_tracker/tracker/model/pedestrian_tracker.hpp" -#include "multi_object_tracker/tracker/model/tracker_base.hpp" + +namespace autoware::multi_object_tracker +{ class PedestrianAndBicycleTracker : public Tracker { @@ -46,4 +49,6 @@ class PedestrianAndBicycleTracker : public Tracker virtual ~PedestrianAndBicycleTracker() {} }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp similarity index 78% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp index c5be57f656eb5..1e0f778a69137 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp @@ -16,15 +16,16 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_ +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/model/tracker_base.hpp" -#include "multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp" -#include "multi_object_tracker/tracker/object_model/object_model.hpp" -// cspell: ignore CTRV +namespace autoware::multi_object_tracker +{ class PedestrianTracker : public Tracker { @@ -49,7 +50,7 @@ class PedestrianTracker : public Tracker }; BoundingBox bounding_box_; Cylinder cylinder_; - + // cspell: ignore CTRV CTRVMotionModel motion_model_; using IDX = CTRVMotionModel::IDX; @@ -75,4 +76,6 @@ class PedestrianTracker : public Tracker const geometry_msgs::msg::Transform & self_transform) const; }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp similarity index 91% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp index 44b3884c392e6..bc52e49f763fd 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp @@ -16,11 +16,11 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_ #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/utils/utils.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -33,6 +33,9 @@ #include +namespace autoware::multi_object_tracker +{ + class Tracker { private: @@ -114,4 +117,6 @@ class Tracker virtual bool predict(const rclcpp::Time & time) = 0; }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp similarity index 80% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp index ca8ecba160bd8..4bc03f439ffc2 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp @@ -16,12 +16,15 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/model/tracker_base.hpp" -#include "multi_object_tracker/tracker/motion_model/cv_motion_model.hpp" + +namespace autoware::multi_object_tracker +{ class UnknownTracker : public Tracker { @@ -62,4 +65,6 @@ class UnknownTracker : public Tracker autoware_perception_msgs::msg::TrackedObject & object) const override; }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp similarity index 87% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp index f6ce2842388c6..6e20d31aad168 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp @@ -16,11 +16,11 @@ // Author: v1.0 Taekjin Lee // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_ +#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp" #include #include @@ -32,6 +32,9 @@ #endif #include +namespace autoware::multi_object_tracker +{ + class BicycleMotionModel : public MotionModel { private: @@ -107,4 +110,6 @@ class BicycleMotionModel : public MotionModel geometry_msgs::msg::Twist & twist, std::array & twist_cov) const override; }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp similarity index 86% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp index 657048079c46c..3cca786d9f65b 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp @@ -16,11 +16,11 @@ // Author: v1.0 Taekjin Lee // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_ +#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp" #include #include @@ -32,8 +32,10 @@ #endif #include -// cspell: ignore CTRV +namespace autoware::multi_object_tracker +{ +// cspell: ignore CTRV class CTRVMotionModel : public MotionModel { private: @@ -92,4 +94,6 @@ class CTRVMotionModel : public MotionModel geometry_msgs::msg::Twist & twist, std::array & twist_cov) const override; }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp similarity index 84% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp index 421e413d7aab7..ad3061285a80c 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp @@ -16,11 +16,11 @@ // Author: v1.0 Taekjin Lee // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_ +#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" #include "kalman_filter/kalman_filter.hpp" -#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp" #include #include @@ -32,6 +32,9 @@ #endif #include +namespace autoware::multi_object_tracker +{ + class CVMotionModel : public MotionModel { private: @@ -85,4 +88,6 @@ class CVMotionModel : public MotionModel geometry_msgs::msg::Twist & twist, std::array & twist_cov) const override; }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/motion_model_base.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp similarity index 85% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/motion_model_base.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp index e740612e96d4f..130053fafd2ed 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/motion_model_base.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp @@ -16,8 +16,8 @@ // Author: v1.0 Taekjin Lee // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_ #include "kalman_filter/kalman_filter.hpp" @@ -31,6 +31,9 @@ #endif #include +namespace autoware::multi_object_tracker +{ + class MotionModel { private: @@ -65,4 +68,6 @@ class MotionModel geometry_msgs::msg::Twist & twist, std::array & twist_cov) const = 0; }; -#endif // MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/object_model/object_model.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp similarity index 96% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/object_model/object_model.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp index 6a771344bb36b..b49464109eec8 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/object_model/object_model.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp @@ -16,8 +16,8 @@ // Author: v1.0 Taekjin Lee // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_ #include @@ -46,6 +46,9 @@ constexpr T kmph2mps(const T kmph) } // namespace +namespace autoware::multi_object_tracker +{ + namespace object_model { @@ -301,5 +304,6 @@ static const ObjectModel bicycle(ObjectModelType::Bicycle); static const ObjectModel pedestrian(ObjectModelType::Pedestrian); } // namespace object_model +} // namespace autoware::multi_object_tracker -#endif // MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_ +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp similarity index 84% rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/tracker.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp index a8bc58e254fc2..ea1e60d4c7e17 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/tracker.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp @@ -16,8 +16,8 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ -#define MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ #include "model/bicycle_tracker.hpp" #include "model/big_vehicle_tracker.hpp" @@ -29,4 +29,4 @@ #include "model/tracker_base.hpp" #include "model/unknown_tracker.hpp" -#endif // MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp similarity index 98% rename from perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp index 0bda7870ae2b9..833f768e171f4 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp +++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp @@ -16,8 +16,8 @@ // Author: v1.0 Yukihiro Saito // -#ifndef MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_ -#define MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_ #include #include @@ -276,4 +276,4 @@ inline bool getMeasurementYaw( } // namespace utils -#endif // MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_ +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_ diff --git a/perception/multi_object_tracker/src/data_association/data_association.cpp b/perception/multi_object_tracker/lib/association/association.cpp similarity index 96% rename from perception/multi_object_tracker/src/data_association/data_association.cpp rename to perception/multi_object_tracker/lib/association/association.cpp index f7b40cd178528..ac31cad4cc13c 100644 --- a/perception/multi_object_tracker/src/data_association/data_association.cpp +++ b/perception/multi_object_tracker/lib/association/association.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "multi_object_tracker/data_association/data_association.hpp" +#include "autoware/multi_object_tracker/association/association.hpp" -#include "multi_object_tracker/data_association/solver/gnn_solver.hpp" -#include "multi_object_tracker/utils/utils.hpp" +#include "autoware/multi_object_tracker/association/solver/gnn_solver.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -68,6 +68,9 @@ double getFormedYawAngle( } } // namespace +namespace autoware::multi_object_tracker +{ + DataAssociation::DataAssociation( std::vector can_assign_vector, std::vector max_dist_vector, std::vector max_area_vector, std::vector min_area_vector, @@ -224,3 +227,5 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( return score_matrix; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp b/perception/multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp similarity index 88% rename from perception/multi_object_tracker/src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp rename to perception/multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp index 18779a7fffbdf..9ae6e300b2b9b 100644 --- a/perception/multi_object_tracker/src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp +++ b/perception/multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp" +#include "autoware/multi_object_tracker/association/solver/mu_ssp.hpp" #include @@ -24,6 +24,8 @@ #include #include +namespace autoware::multi_object_tracker +{ namespace gnn_solver { void MuSSP::maximizeLinearAssignment( @@ -39,3 +41,5 @@ void MuSSP::maximizeLinearAssignment( solve_muSSP(cost, direct_assignment, reverse_assignment); } } // namespace gnn_solver + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp b/perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp similarity index 98% rename from perception/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp rename to perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp index 0b52c09cb54b8..d20992c7d183b 100644 --- a/perception/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp +++ b/perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "multi_object_tracker/data_association/solver/successive_shortest_path.hpp" +#include "autoware/multi_object_tracker/association/solver/ssp.hpp" #include #include @@ -22,6 +22,8 @@ #include #include +namespace autoware::multi_object_tracker +{ namespace gnn_solver { struct ResidualEdge @@ -368,3 +370,5 @@ void SSP::maximizeLinearAssignment( #endif } } // namespace gnn_solver + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp similarity index 98% rename from perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp rename to perception/multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp index a438c830596d7..ba53ccec1ad43 100644 --- a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp +++ b/perception/multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp @@ -17,13 +17,13 @@ // #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/tracker/model/bicycle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "multi_object_tracker/utils/utils.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -40,6 +40,9 @@ #include #endif +namespace autoware::multi_object_tracker +{ + using Label = autoware_perception_msgs::msg::ObjectClassification; BicycleTracker::BicycleTracker( @@ -334,3 +337,5 @@ bool BicycleTracker::getTrackedObject( return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp similarity index 98% rename from perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp rename to perception/multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp index 90d33e65b46bd..0593b7fc9dc12 100644 --- a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp @@ -17,13 +17,13 @@ // #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "multi_object_tracker/utils/utils.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -40,6 +40,8 @@ #include #endif +namespace autoware::multi_object_tracker +{ using Label = autoware_perception_msgs::msg::ObjectClassification; BigVehicleTracker::BigVehicleTracker( @@ -398,3 +400,5 @@ bool BigVehicleTracker::getTrackedObject( return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp similarity index 93% rename from perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp rename to perception/multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp index 67445e5b0daa2..a6e5021e4fe7d 100644 --- a/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp @@ -16,7 +16,10 @@ // Author: v1.0 Yukihiro Saito // -#include "multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp" + +namespace autoware::multi_object_tracker +{ using Label = autoware_perception_msgs::msg::ObjectClassification; @@ -65,3 +68,5 @@ bool MultipleVehicleTracker::getTrackedObject( object.classification = getClassification(); return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp similarity index 98% rename from perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp rename to perception/multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp index 67282893083c1..ef345692b32ca 100644 --- a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp @@ -17,13 +17,13 @@ // #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "multi_object_tracker/utils/utils.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -40,6 +40,9 @@ #include #endif +namespace autoware::multi_object_tracker +{ + using Label = autoware_perception_msgs::msg::ObjectClassification; NormalVehicleTracker::NormalVehicleTracker( @@ -399,3 +402,5 @@ bool NormalVehicleTracker::getTrackedObject( return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp similarity index 95% rename from perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp rename to perception/multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp index 17be415480360..c872944fab3d7 100644 --- a/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp +++ b/perception/multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp @@ -16,10 +16,10 @@ // Author: v1.0 Yutaka Shimizu // #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/tracker/model/pass_through_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "multi_object_tracker/utils/utils.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -36,6 +36,9 @@ #include #endif +namespace autoware::multi_object_tracker +{ + PassThroughTracker::PassThroughTracker( const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, @@ -117,3 +120,5 @@ bool PassThroughTracker::getTrackedObject( return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp similarity index 93% rename from perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp rename to perception/multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp index 00609934990a3..8c665e6078a2b 100644 --- a/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp +++ b/perception/multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp @@ -16,7 +16,10 @@ // Author: v1.0 Yukihiro Saito // -#include "multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp" + +namespace autoware::multi_object_tracker +{ using Label = autoware_perception_msgs::msg::ObjectClassification; @@ -65,3 +68,5 @@ bool PedestrianAndBicycleTracker::getTrackedObject( object.classification = getClassification(); return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp similarity index 98% rename from perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp rename to perception/multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp index d9412c3b5739c..ee50c2e5449ed 100644 --- a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp +++ b/perception/multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp @@ -17,13 +17,13 @@ // #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/tracker/model/pedestrian_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "multi_object_tracker/utils/utils.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -40,6 +40,9 @@ #include #endif +namespace autoware::multi_object_tracker +{ + using Label = autoware_perception_msgs::msg::ObjectClassification; PedestrianTracker::PedestrianTracker( @@ -338,3 +341,5 @@ bool PedestrianTracker::getTrackedObject( return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/model/tracker_base.cpp b/perception/multi_object_tracker/lib/tracker/model/tracker_base.cpp similarity index 96% rename from perception/multi_object_tracker/src/tracker/model/tracker_base.cpp rename to perception/multi_object_tracker/lib/tracker/model/tracker_base.cpp index f27bad172a4b9..daa8db5db91e6 100644 --- a/perception/multi_object_tracker/src/tracker/model/tracker_base.cpp +++ b/perception/multi_object_tracker/lib/tracker/model/tracker_base.cpp @@ -14,9 +14,9 @@ // // -#include "multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" -#include "multi_object_tracker/utils/utils.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include #include @@ -40,6 +40,9 @@ float decayProbability(const float & prior, const float & delta_time) } } // namespace +namespace autoware::multi_object_tracker +{ + Tracker::Tracker( const rclcpp::Time & time, const std::vector & classification, @@ -202,3 +205,5 @@ geometry_msgs::msg::PoseWithCovariance Tracker::getPoseWithCovariance( getTrackedObject(time, object); return object.kinematics.pose_with_covariance; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/unknown_tracker.cpp similarity index 97% rename from perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp rename to perception/multi_object_tracker/lib/tracker/model/unknown_tracker.cpp index 6905d7c3b8ced..0648007e0b807 100644 --- a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp +++ b/perception/multi_object_tracker/lib/tracker/model/unknown_tracker.cpp @@ -13,13 +13,13 @@ // limitations under the License. #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/tracker/model/unknown_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "multi_object_tracker/utils/utils.hpp" #include #include @@ -36,6 +36,9 @@ #endif #include "object_recognition_utils/object_recognition_utils.hpp" +namespace autoware::multi_object_tracker +{ + UnknownTracker::UnknownTracker( const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, @@ -234,3 +237,5 @@ bool UnknownTracker::getTrackedObject( return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp b/perception/multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp similarity index 98% rename from perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp rename to perception/multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp index 466108a2bef0e..2e325d18579a6 100644 --- a/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp +++ b/perception/multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp @@ -17,17 +17,20 @@ // #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp" -#include "multi_object_tracker/utils/utils.hpp" #include #include +namespace autoware::multi_object_tracker +{ + // cspell: ignore CTRV // Bicycle CTRV motion model // CTRV : Constant Turn Rate and constant Velocity @@ -487,3 +490,5 @@ bool BicycleMotionModel::getPredictedState( return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp b/perception/multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp similarity index 97% rename from perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp rename to perception/multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp index b19af1d26d162..b1c5a36f9ad5b 100644 --- a/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp +++ b/perception/multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp @@ -17,17 +17,19 @@ // #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp" -#include "multi_object_tracker/utils/utils.hpp" #include #include +namespace autoware::multi_object_tracker +{ // cspell: ignore CTRV // Constant Turn Rate and constant Velocity (CTRV) motion model using autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; @@ -386,3 +388,5 @@ bool CTRVMotionModel::getPredictedState( return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp b/perception/multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp similarity index 97% rename from perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp rename to perception/multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp index 231ba73796ed9..2e2ba660a6e0d 100644 --- a/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp +++ b/perception/multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp @@ -17,19 +17,21 @@ // #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/tracker/motion_model/cv_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp" -#include "multi_object_tracker/utils/utils.hpp" #include #include #include +namespace autoware::multi_object_tracker +{ // cspell: ignore CV // Constant Velocity (CV) motion model using autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; @@ -306,3 +308,5 @@ bool CVMotionModel::getPredictedState( return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/tracker/motion_model/motion_model_base.cpp b/perception/multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp similarity index 93% rename from perception/multi_object_tracker/src/tracker/motion_model/motion_model_base.cpp rename to perception/multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp index 4d51021de634b..ffbb452815fa7 100644 --- a/perception/multi_object_tracker/src/tracker/motion_model/motion_model_base.cpp +++ b/perception/multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp @@ -16,7 +16,10 @@ // Author: v1.0 Taekjin Lee // -#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp" +#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" + +namespace autoware::multi_object_tracker +{ MotionModel::MotionModel() : last_update_time_(rclcpp::Time(0, 0)) { @@ -90,3 +93,5 @@ bool MotionModel::getPredictedState( tmp_ekf_for_no_update.getP(P); return true; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/src/debugger/debug_object.cpp b/perception/multi_object_tracker/src/debugger/debug_object.cpp index fe6d3d5c75564..58b7dfc5cef48 100644 --- a/perception/multi_object_tracker/src/debugger/debug_object.cpp +++ b/perception/multi_object_tracker/src/debugger/debug_object.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "multi_object_tracker/debugger/debug_object.hpp" +#include "debug_object.hpp" #include "autoware_perception_msgs/msg/tracked_object.hpp" @@ -48,6 +48,9 @@ int32_t uuidToInt(const boost::uuids::uuid & uuid) } } // namespace +namespace autoware::multi_object_tracker +{ + TrackerObjectDebugger::TrackerObjectDebugger(std::string frame_id) { // set frame id @@ -79,7 +82,7 @@ void TrackerObjectDebugger::collect( const std::unordered_map & direct_assignment, const std::unordered_map & /*reverse_assignment*/) { - if (!is_initialized_) is_initialized_ = true; + is_initialized_ = true; message_time_ = message_time; @@ -391,3 +394,5 @@ void TrackerObjectDebugger::getMessage(visualization_msgs::msg::MarkerArray & ma return; } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp b/perception/multi_object_tracker/src/debugger/debug_object.hpp similarity index 91% rename from perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp rename to perception/multi_object_tracker/src/debugger/debug_object.hpp index 08c9eb975d8e6..ed4c556959861 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp +++ b/perception/multi_object_tracker/src/debugger/debug_object.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_ -#define MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_ +#ifndef DEBUGGER__DEBUG_OBJECT_HPP_ +#define DEBUGGER__DEBUG_OBJECT_HPP_ +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include "autoware/universe_utils/ros/uuid_helper.hpp" -#include "multi_object_tracker/tracker/model/tracker_base.hpp" #include @@ -37,6 +37,9 @@ #include #include +namespace autoware::multi_object_tracker +{ + struct ObjectData { rclcpp::Time time; @@ -99,4 +102,6 @@ class TrackerObjectDebugger void getMessage(visualization_msgs::msg::MarkerArray & marker_array) const; }; -#endif // MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // DEBUGGER__DEBUG_OBJECT_HPP_ diff --git a/perception/multi_object_tracker/src/debugger/debugger.cpp b/perception/multi_object_tracker/src/debugger/debugger.cpp index e692ae76468e4..3e47bbe9bed8d 100644 --- a/perception/multi_object_tracker/src/debugger/debugger.cpp +++ b/perception/multi_object_tracker/src/debugger/debugger.cpp @@ -12,10 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "multi_object_tracker/debugger/debugger.hpp" +#include "debugger.hpp" #include +namespace autoware::multi_object_tracker +{ TrackerDebugger::TrackerDebugger(rclcpp::Node & node, const std::string & frame_id) : node_(node), diagnostic_updater_(&node), object_debugger_(frame_id) { @@ -207,3 +209,5 @@ void TrackerDebugger::publishObjectsMarkers() // reset object data object_debugger_.reset(); } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp b/perception/multi_object_tracker/src/debugger/debugger.hpp similarity index 94% rename from perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp rename to perception/multi_object_tracker/src/debugger/debugger.hpp index a1c516147b220..77618e1882be7 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp +++ b/perception/multi_object_tracker/src/debugger/debugger.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MULTI_OBJECT_TRACKER__DEBUGGER__DEBUGGER_HPP_ -#define MULTI_OBJECT_TRACKER__DEBUGGER__DEBUGGER_HPP_ +#ifndef DEBUGGER__DEBUGGER_HPP_ +#define DEBUGGER__DEBUGGER_HPP_ #include "autoware/universe_utils/ros/debug_publisher.hpp" #include "autoware/universe_utils/ros/published_time_publisher.hpp" -#include "multi_object_tracker/debugger/debug_object.hpp" +#include "debug_object.hpp" #include #include @@ -33,6 +33,9 @@ #include #include +namespace autoware::multi_object_tracker +{ + /** * @brief Debugger class for multi object tracker * @details This class is used to publish debug information of multi object tracker @@ -104,4 +107,6 @@ class TrackerDebugger void publishObjectsMarkers(); }; -#endif // MULTI_OBJECT_TRACKER__DEBUGGER__DEBUGGER_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // DEBUGGER__DEBUGGER_HPP_ diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp similarity index 96% rename from perception/multi_object_tracker/src/multi_object_tracker_core.cpp rename to perception/multi_object_tracker/src/multi_object_tracker_node.cpp index 97c3d93d191b2..d3e1c9686b69b 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp @@ -15,13 +15,12 @@ // #define EIGEN_MPL2_ONLY -#include "multi_object_tracker/multi_object_tracker_core.hpp" +#include "multi_object_tracker_node.hpp" -#include "multi_object_tracker/utils/utils.hpp" +#include "autoware/multi_object_tracker/utils/utils.hpp" #include #include -#include #include @@ -66,7 +65,7 @@ boost::optional getTransformAnonymous( } // namespace -namespace multi_object_tracker +namespace autoware::multi_object_tracker { using Label = autoware_perception_msgs::msg::ObjectClassification; @@ -192,7 +191,7 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) const auto max_rad_matrix = this->declare_parameter>("max_rad_matrix"); const auto min_iou_matrix = this->declare_parameter>("min_iou_matrix"); - data_association_ = std::make_unique( + association_ = std::make_unique( can_assign_matrix, max_dist_matrix, max_area_matrix, min_area_matrix, max_rad_matrix, min_iou_matrix); } @@ -295,9 +294,9 @@ void MultiObjectTracker::runProcess( const auto & list_tracker = processor_->getListTracker(); const auto & detected_objects = transformed_objects; // global nearest neighbor - Eigen::MatrixXd score_matrix = data_association_->calcScoreMatrix( + Eigen::MatrixXd score_matrix = association_->calcScoreMatrix( detected_objects, list_tracker); // row : tracker, col : measurement - data_association_->assign(score_matrix, direct_assignment, reverse_assignment); + association_->assign(score_matrix, direct_assignment, reverse_assignment); // Collect debug information - tracker list, existence probabilities, association results debugger_->collectObjectInfo( @@ -358,6 +357,8 @@ void MultiObjectTracker::publish(const rclcpp::Time & time) const debugger_->publishObjectsMarkers(); } -} // namespace multi_object_tracker +} // namespace autoware::multi_object_tracker + +#include -RCLCPP_COMPONENTS_REGISTER_NODE(multi_object_tracker::MultiObjectTracker) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::multi_object_tracker::MultiObjectTracker) diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/src/multi_object_tracker_node.hpp similarity index 82% rename from perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp rename to perception/multi_object_tracker/src/multi_object_tracker_node.hpp index aff3cbd00eabe..db5eaaa88ca8c 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_node.hpp @@ -16,14 +16,14 @@ // Author: v1.0 Yukihiro Saito /// -#ifndef MULTI_OBJECT_TRACKER__MULTI_OBJECT_TRACKER_CORE_HPP_ -#define MULTI_OBJECT_TRACKER__MULTI_OBJECT_TRACKER_CORE_HPP_ +#ifndef MULTI_OBJECT_TRACKER_NODE_HPP_ +#define MULTI_OBJECT_TRACKER_NODE_HPP_ -#include "multi_object_tracker/data_association/data_association.hpp" -#include "multi_object_tracker/debugger/debugger.hpp" -#include "multi_object_tracker/processor/input_manager.hpp" -#include "multi_object_tracker/processor/processor.hpp" -#include "multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/association/association.hpp" +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" +#include "debugger/debugger.hpp" +#include "processor/input_manager.hpp" +#include "processor/processor.hpp" #include @@ -52,7 +52,7 @@ #include #include -namespace multi_object_tracker +namespace autoware::multi_object_tracker { using DetectedObject = autoware_perception_msgs::msg::DetectedObject; @@ -82,7 +82,7 @@ class MultiObjectTracker : public rclcpp::Node // internal states std::string world_frame_id_; // tracking frame - std::unique_ptr data_association_; + std::unique_ptr association_; std::unique_ptr processor_; // input manager @@ -103,6 +103,6 @@ class MultiObjectTracker : public rclcpp::Node inline bool shouldTrackerPublish(const std::shared_ptr tracker) const; }; -} // namespace multi_object_tracker +} // namespace autoware::multi_object_tracker -#endif // MULTI_OBJECT_TRACKER__MULTI_OBJECT_TRACKER_CORE_HPP_ +#endif // MULTI_OBJECT_TRACKER_NODE_HPP_ diff --git a/perception/multi_object_tracker/src/processor/input_manager.cpp b/perception/multi_object_tracker/src/processor/input_manager.cpp index bee76e6c05940..5172cc5062450 100644 --- a/perception/multi_object_tracker/src/processor/input_manager.cpp +++ b/perception/multi_object_tracker/src/processor/input_manager.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "multi_object_tracker/processor/input_manager.hpp" +#include "input_manager.hpp" #include -namespace multi_object_tracker +namespace autoware::multi_object_tracker { /////////////////////////// /////// InputStream /////// @@ -62,7 +62,7 @@ void InputStream::onMessage( { const DetectedObjects objects = *msg; objects_que_.push_back(objects); - if (objects_que_.size() > que_size_) { + while (objects_que_.size() > que_size_) { objects_que_.pop_front(); } @@ -160,21 +160,27 @@ void InputStream::getObjectsOlderThan( return; } - for (const auto & object : objects_que_) { - const rclcpp::Time object_time = rclcpp::Time(object.header.stamp); - - // remove objects older than the specified duration + for (const auto & objects : objects_que_) { + const rclcpp::Time object_time = rclcpp::Time(objects.header.stamp); + // ignore objects older than the specified duration if (object_time < object_oldest_time) { - objects_que_.pop_front(); continue; } // Add the object if the object is older than the specified latest time - if (object_latest_time >= object_time) { - std::pair object_pair(index_, object); - objects_list.push_back(object_pair); - // remove the object from the queue + if (object_time <= object_latest_time) { + std::pair objects_pair(index_, objects); + objects_list.push_back(objects_pair); + } + } + + // remove objects older than 'object_latest_time' + while (!objects_que_.empty()) { + const rclcpp::Time object_time = rclcpp::Time(objects_que_.front().header.stamp); + if (object_time < object_latest_time) { objects_que_.pop_front(); + } else { + break; } } } @@ -368,4 +374,4 @@ bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_li return is_any_object; } -} // namespace multi_object_tracker +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp b/perception/multi_object_tracker/src/processor/input_manager.hpp similarity index 95% rename from perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp rename to perception/multi_object_tracker/src/processor/input_manager.hpp index 29b0c18ae766f..432a4105d815f 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp +++ b/perception/multi_object_tracker/src/processor/input_manager.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MULTI_OBJECT_TRACKER__PROCESSOR__INPUT_MANAGER_HPP_ -#define MULTI_OBJECT_TRACKER__PROCESSOR__INPUT_MANAGER_HPP_ +#ifndef PROCESSOR__INPUT_MANAGER_HPP_ +#define PROCESSOR__INPUT_MANAGER_HPP_ #include "rclcpp/rclcpp.hpp" @@ -26,7 +26,7 @@ #include #include -namespace multi_object_tracker +namespace autoware::multi_object_tracker { using DetectedObjects = autoware_perception_msgs::msg::DetectedObjects; using ObjectsList = std::vector>; @@ -155,6 +155,6 @@ class InputManager void optimizeTimings(); }; -} // namespace multi_object_tracker +} // namespace autoware::multi_object_tracker -#endif // MULTI_OBJECT_TRACKER__PROCESSOR__INPUT_MANAGER_HPP_ +#endif // PROCESSOR__INPUT_MANAGER_HPP_ diff --git a/perception/multi_object_tracker/src/processor/processor.cpp b/perception/multi_object_tracker/src/processor/processor.cpp index 50d1a021c5838..17871c89b5258 100644 --- a/perception/multi_object_tracker/src/processor/processor.cpp +++ b/perception/multi_object_tracker/src/processor/processor.cpp @@ -12,15 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "multi_object_tracker/processor/processor.hpp" +#include "processor.hpp" -#include "multi_object_tracker/tracker/tracker.hpp" +#include "autoware/multi_object_tracker/tracker/tracker.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include "autoware_perception_msgs/msg/tracked_objects.hpp" #include +namespace autoware::multi_object_tracker +{ + using Label = autoware_perception_msgs::msg::ObjectClassification; TrackerProcessor::TrackerProcessor( @@ -248,3 +251,5 @@ void TrackerProcessor::getTentativeObjects( } } } + +} // namespace autoware::multi_object_tracker diff --git a/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp b/perception/multi_object_tracker/src/processor/processor.hpp similarity index 91% rename from perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp rename to perception/multi_object_tracker/src/processor/processor.hpp index 6d0dbcd036e53..5eac113b3974c 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp +++ b/perception/multi_object_tracker/src/processor/processor.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_ -#define MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_ +#ifndef PROCESSOR__PROCESSOR_HPP_ +#define PROCESSOR__PROCESSOR_HPP_ -#include "multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include @@ -29,6 +29,8 @@ #include #include +namespace autoware::multi_object_tracker +{ class TrackerProcessor { public: @@ -78,4 +80,6 @@ class TrackerProcessor const geometry_msgs::msg::Transform & self_transform, const uint & channel_index) const; }; -#endif // MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_ +} // namespace autoware::multi_object_tracker + +#endif // PROCESSOR__PROCESSOR_HPP_ From 54cff774c55db008fe1f71f80223aee6c3e86011 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 8 Jul 2024 16:34:56 +0900 Subject: [PATCH 103/306] refactor(detected_object_validation)!: fix namespace and directory structure (#7866) * refactor: update include paths for detected object filters Signed-off-by: Taekjin LEE * refactor: set proper namespace Signed-off-by: Taekjin LEE * refactor: move utils to be shared Signed-off-by: Taekjin LEE * refactor: remove unnecessary dependencies in detected_object_validation/package.xml Signed-off-by: Taekjin LEE * chore: Override functions in pcl_validator.hpp Signed-off-by: Taekjin LEE * style(pre-commit): autofix * refactor: pcl_validator to obstacle_pointcloud_validator, ogm_validator to occupancy_grid_map_validator Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../detected_object_validation/CMakeLists.txt | 28 +++++------- .../utils/utils.hpp | 10 +++-- .../{src => lib/utils}/utils.cpp | 6 ++- .../detected_object_validation/package.xml | 3 -- .../lanelet_filter.cpp} | 20 +++++---- .../lanelet_filter/lanelet_filter.hpp} | 27 ++++++----- .../obstacle_pointcloud}/debugger.hpp | 16 ++++--- .../obstacle_pointcloud_validator.cpp} | 14 +++--- .../obstacle_pointcloud_validator.hpp} | 45 ++++++++++++------- .../occupancy_grid_map_validator.cpp} | 21 +++++---- .../occupancy_grid_map_validator.hpp} | 19 +++++--- .../position_filter.cpp} | 12 +++-- .../position_filter/position_filter.hpp} | 23 +++++----- .../test_object_position_filter.cpp | 4 +- .../test/test_utils.cpp | 13 +++--- .../src/low_intensity_cluster_filter_node.hpp | 4 +- 16 files changed, 153 insertions(+), 112 deletions(-) rename perception/detected_object_validation/include/{ => autoware}/detected_object_validation/utils/utils.hpp (82%) rename perception/detected_object_validation/{src => lib/utils}/utils.cpp (87%) rename perception/detected_object_validation/src/{object_lanelet_filter.cpp => lanelet_filter/lanelet_filter.cpp} (95%) rename perception/detected_object_validation/{include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp => src/lanelet_filter/lanelet_filter.hpp} (81%) rename perception/detected_object_validation/{include/detected_object_validation/obstacle_pointcloud_based_validator => src/obstacle_pointcloud}/debugger.hpp (89%) rename perception/detected_object_validation/src/{obstacle_pointcloud_based_validator.cpp => obstacle_pointcloud/obstacle_pointcloud_validator.cpp} (97%) rename perception/detected_object_validation/{include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp => src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp} (79%) rename perception/detected_object_validation/src/{occupancy_grid_based_validator.cpp => occupancy_grid_map/occupancy_grid_map_validator.cpp} (92%) rename perception/detected_object_validation/{include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp => src/occupancy_grid_map/occupancy_grid_map_validator.hpp} (83%) rename perception/detected_object_validation/src/{object_position_filter.cpp => position_filter/position_filter.cpp} (91%) rename perception/detected_object_validation/{include/detected_object_validation/detected_object_filter/object_position_filter.hpp => src/position_filter/position_filter.hpp} (71%) diff --git a/perception/detected_object_validation/CMakeLists.txt b/perception/detected_object_validation/CMakeLists.txt index c416209d7d55d..6d93e7b426ad2 100644 --- a/perception/detected_object_validation/CMakeLists.txt +++ b/perception/detected_object_validation/CMakeLists.txt @@ -28,12 +28,8 @@ include_directories( ) # Generate occupancy grid based validator exe file -set(OCCUPANCY_GRID_BASED_VALIDATOR_SRC - src/occupancy_grid_based_validator.cpp -) - ament_auto_add_library(occupancy_grid_based_validator SHARED - ${OCCUPANCY_GRID_BASED_VALIDATOR_SRC} + src/occupancy_grid_map/occupancy_grid_map_validator.cpp ) target_link_libraries(occupancy_grid_based_validator @@ -42,12 +38,8 @@ target_link_libraries(occupancy_grid_based_validator ) # Generate obstacle pointcloud based validator exe file -set(OBSTACLE_POINTCLOUD_BASED_VALIDATOR_SRC - src/obstacle_pointcloud_based_validator.cpp -) - ament_auto_add_library(obstacle_pointcloud_based_validator SHARED - ${OBSTACLE_POINTCLOUD_BASED_VALIDATOR_SRC} + src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp ) target_link_libraries(obstacle_pointcloud_based_validator @@ -56,32 +48,32 @@ target_link_libraries(obstacle_pointcloud_based_validator ) ament_auto_add_library(object_lanelet_filter SHARED - src/object_lanelet_filter.cpp - src/utils.cpp + src/lanelet_filter/lanelet_filter.cpp + lib/utils/utils.cpp ) ament_auto_add_library(object_position_filter SHARED - src/object_position_filter.cpp - src/utils.cpp + src/position_filter/position_filter.cpp + lib/utils/utils.cpp ) rclcpp_components_register_node(obstacle_pointcloud_based_validator - PLUGIN "obstacle_pointcloud_based_validator::ObstaclePointCloudBasedValidator" + PLUGIN "autoware::detected_object_validation::obstacle_pointcloud::ObstaclePointCloudBasedValidator" EXECUTABLE obstacle_pointcloud_based_validator_node ) rclcpp_components_register_node(object_lanelet_filter - PLUGIN "object_lanelet_filter::ObjectLaneletFilterNode" + PLUGIN "autoware::detected_object_validation::lanelet_filter::ObjectLaneletFilterNode" EXECUTABLE object_lanelet_filter_node ) rclcpp_components_register_node(object_position_filter - PLUGIN "object_position_filter::ObjectPositionFilterNode" + PLUGIN "autoware::detected_object_validation::position_filter::ObjectPositionFilterNode" EXECUTABLE object_position_filter_node ) rclcpp_components_register_node(occupancy_grid_based_validator - PLUGIN "occupancy_grid_based_validator::OccupancyGridBasedValidator" + PLUGIN "autoware::detected_object_validation::occupancy_grid_map::OccupancyGridBasedValidator" EXECUTABLE occupancy_grid_based_validator_node ) diff --git a/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp b/perception/detected_object_validation/include/autoware/detected_object_validation/utils/utils.hpp similarity index 82% rename from perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp rename to perception/detected_object_validation/include/autoware/detected_object_validation/utils/utils.hpp index c55e992213eb5..3ec119d2a48c5 100644 --- a/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp +++ b/perception/detected_object_validation/include/autoware/detected_object_validation/utils/utils.hpp @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_ -#define DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_ +#ifndef AUTOWARE__DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_ +#define AUTOWARE__DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_ #include #include + +namespace autoware::detected_object_validation +{ namespace utils { struct FilterTargetLabel @@ -48,5 +51,6 @@ inline bool hasBoundingBox(const autoware_perception_msgs::msg::DetectedObject & } } // namespace utils +} // namespace autoware::detected_object_validation -#endif // DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_ +#endif // AUTOWARE__DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_ diff --git a/perception/detected_object_validation/src/utils.cpp b/perception/detected_object_validation/lib/utils/utils.cpp similarity index 87% rename from perception/detected_object_validation/src/utils.cpp rename to perception/detected_object_validation/lib/utils/utils.cpp index f6e2157cb885f..327f65a0c833e 100644 --- a/perception/detected_object_validation/src/utils.cpp +++ b/perception/detected_object_validation/lib/utils/utils.cpp @@ -12,10 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "detected_object_validation/utils/utils.hpp" +#include "autoware/detected_object_validation/utils/utils.hpp" #include +namespace autoware::detected_object_validation +{ namespace utils { using Label = autoware_perception_msgs::msg::ObjectClassification; @@ -27,4 +29,6 @@ bool FilterTargetLabel::isTarget(const uint8_t label) const (label == Label::TRAILER && TRAILER) || (label == Label::MOTORCYCLE && MOTORCYCLE) || (label == Label::BICYCLE && BICYCLE) || (label == Label::PEDESTRIAN && PEDESTRIAN); } + } // namespace utils +} // namespace autoware::detected_object_validation diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml index d8eb1257ba451..09440c9f6358d 100644 --- a/perception/detected_object_validation/package.xml +++ b/perception/detected_object_validation/package.xml @@ -22,17 +22,14 @@ autoware_perception_msgs autoware_test_utils autoware_universe_utils - geometry_msgs message_filters nav_msgs object_recognition_utils pcl_conversions rclcpp rclcpp_components - tf2 tf2_geometry_msgs tf2_ros - tier4_perception_msgs ament_lint_auto autoware_lint_common diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.cpp similarity index 95% rename from perception/detected_object_validation/src/object_lanelet_filter.cpp rename to perception/detected_object_validation/src/lanelet_filter/lanelet_filter.cpp index d1ba34f4a61b2..09440fedc1764 100644 --- a/perception/detected_object_validation/src/object_lanelet_filter.cpp +++ b/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "detected_object_validation/detected_object_filter/object_lanelet_filter.hpp" +#include "lanelet_filter.hpp" -#include -#include -#include -#include +#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware_lanelet2_extension/utility/message_conversion.hpp" +#include "autoware_lanelet2_extension/utility/query.hpp" +#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -25,7 +25,9 @@ #include -namespace object_lanelet_filter +namespace autoware::detected_object_validation +{ +namespace lanelet_filter { ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & node_options) : Node("object_lanelet_filter_node", node_options), @@ -309,7 +311,9 @@ bool ObjectLaneletFilterNode::isSameDirectionWithLanelets( return false; } -} // namespace object_lanelet_filter +} // namespace lanelet_filter +} // namespace autoware::detected_object_validation #include -RCLCPP_COMPONENTS_REGISTER_NODE(object_lanelet_filter::ObjectLaneletFilterNode) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::detected_object_validation::lanelet_filter::ObjectLaneletFilterNode) diff --git a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.hpp similarity index 81% rename from perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp rename to perception/detected_object_validation/src/lanelet_filter/lanelet_filter.hpp index 3ffd8d18c9a67..25d78a160c246 100644 --- a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp +++ b/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.hpp @@ -12,19 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_ -#define DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_ +#ifndef LANELET_FILTER__LANELET_FILTER_HPP_ +#define LANELET_FILTER__LANELET_FILTER_HPP_ -#include "detected_object_validation/utils/utils.hpp" +#include "autoware/detected_object_validation/utils/utils.hpp" +#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/ros/debug_publisher.hpp" +#include "autoware/universe_utils/ros/published_time_publisher.hpp" +#include "autoware_lanelet2_extension/utility/utilities.hpp" -#include -#include -#include -#include #include -#include -#include +#include "autoware_map_msgs/msg/lanelet_map_bin.hpp" +#include "autoware_perception_msgs/msg/detected_objects.hpp" #include #include @@ -33,7 +33,9 @@ #include #include -namespace object_lanelet_filter +namespace autoware::detected_object_validation +{ +namespace lanelet_filter { using autoware::universe_utils::LinearRing2d; using autoware::universe_utils::MultiPoint2d; @@ -92,6 +94,7 @@ class ObjectLaneletFilterNode : public rclcpp::Node std::unique_ptr published_time_publisher_; }; -} // namespace object_lanelet_filter +} // namespace lanelet_filter +} // namespace autoware::detected_object_validation -#endif // DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_ +#endif // LANELET_FILTER__LANELET_FILTER_HPP_ diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/src/obstacle_pointcloud/debugger.hpp similarity index 89% rename from perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp rename to perception/detected_object_validation/src/obstacle_pointcloud/debugger.hpp index d338580d95418..5886474d51b34 100644 --- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud/debugger.hpp @@ -12,19 +12,21 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_ -#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_ +#ifndef OBSTACLE_POINTCLOUD__DEBUGGER_HPP_ +#define OBSTACLE_POINTCLOUD__DEBUGGER_HPP_ #include -#include +#include "autoware_perception_msgs/msg/detected_objects.hpp" #include #include #include #include -namespace obstacle_pointcloud_based_validator +namespace autoware::detected_object_validation +{ +namespace obstacle_pointcloud { class Debugger { @@ -106,6 +108,8 @@ class Debugger return pointcloud_xyz; } }; -} // namespace obstacle_pointcloud_based_validator -#endif // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_ +} // namespace obstacle_pointcloud +} // namespace autoware::detected_object_validation + +#endif // OBSTACLE_POINTCLOUD__DEBUGGER_HPP_ diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp similarity index 97% rename from perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp rename to perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp index fbb3f863be7c4..3fe527935c485 100644 --- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp @@ -12,7 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp" +#define EIGEN_MPL2_ONLY + +#include "obstacle_pointcloud_validator.hpp" #include #include @@ -25,11 +27,12 @@ #include #endif -#define EIGEN_MPL2_ONLY #include #include -namespace obstacle_pointcloud_based_validator +namespace autoware::detected_object_validation +{ +namespace obstacle_pointcloud { namespace bg = boost::geometry; using Shape = autoware_perception_msgs::msg::Shape; @@ -369,8 +372,9 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( "debug/pipeline_latency_ms", pipeline_latency); } -} // namespace obstacle_pointcloud_based_validator +} // namespace obstacle_pointcloud +} // namespace autoware::detected_object_validation #include RCLCPP_COMPONENTS_REGISTER_NODE( - obstacle_pointcloud_based_validator::ObstaclePointCloudBasedValidator) + autoware::detected_object_validation::obstacle_pointcloud::ObstaclePointCloudBasedValidator) diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp similarity index 79% rename from perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp rename to perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp index a16bb63fd0c87..19b42ecf9055b 100644 --- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp @@ -13,17 +13,17 @@ // limitations under the License. // NOLINTNEXTLINE(whitespace/line_length) -#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_ +#ifndef OBSTACLE_POINTCLOUD__OBSTACLE_POINTCLOUD_VALIDATOR_HPP_ // NOLINTNEXTLINE(whitespace/line_length) -#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_ +#define OBSTACLE_POINTCLOUD__OBSTACLE_POINTCLOUD_VALIDATOR_HPP_ -#include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp" +#include "autoware/universe_utils/ros/debug_publisher.hpp" +#include "autoware/universe_utils/ros/published_time_publisher.hpp" +#include "debugger.hpp" -#include -#include #include -#include +#include "autoware_perception_msgs/msg/detected_objects.hpp" #include #include @@ -42,7 +42,10 @@ #include #include #include -namespace obstacle_pointcloud_based_validator + +namespace autoware::detected_object_validation +{ +namespace obstacle_pointcloud { struct PointsNumThresholdParam @@ -91,14 +94,17 @@ class Validator2D : public Validator pcl::PointCloud::Ptr convertToXYZ( const pcl::PointCloud::Ptr & pointcloud_xy); - inline pcl::PointCloud::Ptr getDebugNeighborPointCloud() + inline pcl::PointCloud::Ptr getDebugNeighborPointCloud() override { return convertToXYZ(neighbor_pointcloud_); } - bool setKdtreeInputCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud); - bool validate_object(const autoware_perception_msgs::msg::DetectedObject & transformed_object); - std::optional getMaxRadius(const autoware_perception_msgs::msg::DetectedObject & object); + bool setKdtreeInputCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud) override; + bool validate_object( + const autoware_perception_msgs::msg::DetectedObject & transformed_object) override; + std::optional getMaxRadius( + const autoware_perception_msgs::msg::DetectedObject & object) override; std::optional getPointCloudWithinObject( const autoware_perception_msgs::msg::DetectedObject & object, const pcl::PointCloud::Ptr neighbor_pointcloud); @@ -112,13 +118,16 @@ class Validator3D : public Validator public: explicit Validator3D(PointsNumThresholdParam & points_num_threshold_param); - inline pcl::PointCloud::Ptr getDebugNeighborPointCloud() + inline pcl::PointCloud::Ptr getDebugNeighborPointCloud() override { return neighbor_pointcloud_; } - bool setKdtreeInputCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud); - bool validate_object(const autoware_perception_msgs::msg::DetectedObject & transformed_object); - std::optional getMaxRadius(const autoware_perception_msgs::msg::DetectedObject & object); + bool setKdtreeInputCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud) override; + bool validate_object( + const autoware_perception_msgs::msg::DetectedObject & transformed_object) override; + std::optional getMaxRadius( + const autoware_perception_msgs::msg::DetectedObject & object) override; std::optional getPointCloudWithinObject( const autoware_perception_msgs::msg::DetectedObject & object, const pcl::PointCloud::Ptr neighbor_pointcloud); @@ -154,7 +163,9 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects, const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_obstacle_pointcloud); }; -} // namespace obstacle_pointcloud_based_validator + +} // namespace obstacle_pointcloud +} // namespace autoware::detected_object_validation // NOLINTNEXTLINE(whitespace/line_length) -#endif // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_ +#endif // OBSTACLE_POINTCLOUD__OBSTACLE_POINTCLOUD_VALIDATOR_HPP_ diff --git a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp b/perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp similarity index 92% rename from perception/detected_object_validation/src/occupancy_grid_based_validator.cpp rename to perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp index b8682a6e56b3b..ce900f30f4255 100644 --- a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp +++ b/perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp @@ -12,11 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp" +#define EIGEN_MPL2_ONLY + +#include "occupancy_grid_map_validator.hpp" -#include -#include -#include +#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" +#include "object_recognition_utils/object_classification.hpp" +#include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -26,11 +28,12 @@ #include #endif -#define EIGEN_MPL2_ONLY #include #include -namespace occupancy_grid_based_validator +namespace autoware::detected_object_validation +{ +namespace occupancy_grid_map { using Shape = autoware_perception_msgs::msg::Shape; using Polygon2d = autoware::universe_utils::Polygon2d; @@ -173,7 +176,9 @@ void OccupancyGridBasedValidator::showDebugImage( cv::waitKey(2); } -} // namespace occupancy_grid_based_validator +} // namespace occupancy_grid_map +} // namespace autoware::detected_object_validation #include -RCLCPP_COMPONENTS_REGISTER_NODE(occupancy_grid_based_validator::OccupancyGridBasedValidator) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::detected_object_validation::occupancy_grid_map::OccupancyGridBasedValidator) diff --git a/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp b/perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.hpp similarity index 83% rename from perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp rename to perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.hpp index beb8faf5db1a3..52b6f79e5e20a 100644 --- a/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp +++ b/perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.hpp @@ -12,16 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_ -#define DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_ +#ifndef OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_VALIDATOR_HPP_ +#define OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_VALIDATOR_HPP_ + +#include "autoware/universe_utils/ros/published_time_publisher.hpp" -#include #include #include #include #include -#include +#include "autoware_perception_msgs/msg/detected_objects.hpp" #include #include @@ -30,7 +31,9 @@ #include #include -namespace occupancy_grid_based_validator +namespace autoware::detected_object_validation +{ +namespace occupancy_grid_map { class OccupancyGridBasedValidator : public rclcpp::Node { @@ -68,6 +71,8 @@ class OccupancyGridBasedValidator : public rclcpp::Node const nav_msgs::msg::OccupancyGrid & ros_occ_grid, const autoware_perception_msgs::msg::DetectedObjects & objects, const cv::Mat & occ_grid); }; -} // namespace occupancy_grid_based_validator -#endif // DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_ +} // namespace occupancy_grid_map +} // namespace autoware::detected_object_validation + +#endif // OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_VALIDATOR_HPP_ diff --git a/perception/detected_object_validation/src/object_position_filter.cpp b/perception/detected_object_validation/src/position_filter/position_filter.cpp similarity index 91% rename from perception/detected_object_validation/src/object_position_filter.cpp rename to perception/detected_object_validation/src/position_filter/position_filter.cpp index dccff8a6ccc67..ac0bab404c476 100644 --- a/perception/detected_object_validation/src/object_position_filter.cpp +++ b/perception/detected_object_validation/src/position_filter/position_filter.cpp @@ -12,9 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "detected_object_validation/detected_object_filter/object_position_filter.hpp" +#include "position_filter.hpp" -namespace object_position_filter +namespace autoware::detected_object_validation +{ +namespace position_filter { ObjectPositionFilterNode::ObjectPositionFilterNode(const rclcpp::NodeOptions & node_options) : Node("object_position_filter_node", node_options), @@ -78,7 +80,9 @@ bool ObjectPositionFilterNode::isObjectInBounds( position.y > lower_bound_y_ && position.y < upper_bound_y_; } -} // namespace object_position_filter +} // namespace position_filter +} // namespace autoware::detected_object_validation #include -RCLCPP_COMPONENTS_REGISTER_NODE(object_position_filter::ObjectPositionFilterNode) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::detected_object_validation::position_filter::ObjectPositionFilterNode) diff --git a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp b/perception/detected_object_validation/src/position_filter/position_filter.hpp similarity index 71% rename from perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp rename to perception/detected_object_validation/src/position_filter/position_filter.hpp index ea70d62fd952d..30a5d7fc9dfb1 100644 --- a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp +++ b/perception/detected_object_validation/src/position_filter/position_filter.hpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_ -#define DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_ +#ifndef POSITION_FILTER__POSITION_FILTER_HPP_ +#define POSITION_FILTER__POSITION_FILTER_HPP_ -#include "detected_object_validation/utils/utils.hpp" +#include "autoware/detected_object_validation/utils/utils.hpp" +#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/ros/published_time_publisher.hpp" -#include -#include #include -#include -#include +#include "autoware_map_msgs/msg/lanelet_map_bin.hpp" +#include "autoware_perception_msgs/msg/detected_objects.hpp" #include #include @@ -30,7 +30,9 @@ #include #include -namespace object_position_filter +namespace autoware::detected_object_validation +{ +namespace position_filter { class ObjectPositionFilterNode : public rclcpp::Node @@ -57,6 +59,7 @@ class ObjectPositionFilterNode : public rclcpp::Node std::unique_ptr published_time_publisher_; }; -} // namespace object_position_filter +} // namespace position_filter +} // namespace autoware::detected_object_validation -#endif // DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_ +#endif // POSITION_FILTER__POSITION_FILTER_HPP_ diff --git a/perception/detected_object_validation/test/object_position_filter/test_object_position_filter.cpp b/perception/detected_object_validation/test/object_position_filter/test_object_position_filter.cpp index 03cebf91418ce..5bd174d5a9e17 100644 --- a/perception/detected_object_validation/test/object_position_filter/test_object_position_filter.cpp +++ b/perception/detected_object_validation/test/object_position_filter/test_object_position_filter.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "detected_object_validation/detected_object_filter/object_position_filter.hpp" +#include "../../src/position_filter/position_filter.hpp" #include #include @@ -21,10 +21,10 @@ #include +using autoware::detected_object_validation::position_filter::ObjectPositionFilterNode; using autoware_perception_msgs::msg::DetectedObject; using autoware_perception_msgs::msg::DetectedObjects; using autoware_perception_msgs::msg::ObjectClassification; -using object_position_filter::ObjectPositionFilterNode; std::shared_ptr generateTestManager() { diff --git a/perception/detected_object_validation/test/test_utils.cpp b/perception/detected_object_validation/test/test_utils.cpp index f7077dadb1ef2..7865f928f23a8 100644 --- a/perception/detected_object_validation/test/test_utils.cpp +++ b/perception/detected_object_validation/test/test_utils.cpp @@ -12,17 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "detected_object_validation/utils/utils.hpp" +#include "autoware/detected_object_validation/utils/utils.hpp" -#include +#include "autoware_perception_msgs/msg/object_classification.hpp" #include +using autoware::detected_object_validation::utils::FilterTargetLabel; using AutowareLabel = autoware_perception_msgs::msg::ObjectClassification; -utils::FilterTargetLabel createFilterTargetAll() +FilterTargetLabel createFilterTargetAll() { - utils::FilterTargetLabel filter; + FilterTargetLabel filter; filter.UNKNOWN = true; filter.CAR = true; filter.TRUCK = true; @@ -34,9 +35,9 @@ utils::FilterTargetLabel createFilterTargetAll() return filter; } -utils::FilterTargetLabel createFilterTargetVehicle() +FilterTargetLabel createFilterTargetVehicle() { - utils::FilterTargetLabel filter; + FilterTargetLabel filter; filter.UNKNOWN = false; filter.CAR = true; filter.TRUCK = true; diff --git a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp index 8e21306218ab2..61e23860cd195 100644 --- a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp +++ b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp @@ -15,9 +15,9 @@ #ifndef LOW_INTENSITY_CLUSTER_FILTER_NODE_HPP_ #define LOW_INTENSITY_CLUSTER_FILTER_NODE_HPP_ +#include "autoware/detected_object_validation/utils/utils.hpp" #include "autoware/universe_utils/ros/debug_publisher.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" -#include "detected_object_validation/utils/utils.hpp" #include #include @@ -64,7 +64,7 @@ class LowIntensityClusterFilter : public rclcpp::Node // Eigen::Vector4f max_boundary_transformed_; bool is_validation_range_transformed_ = false; const std::string base_link_frame_id_ = "base_link"; - utils::FilterTargetLabel filter_target_; + autoware::detected_object_validation::utils::FilterTargetLabel filter_target_; // debugger std::unique_ptr> stop_watch_ptr_{ From 9cf0436d7891f77ab1e4a3957d786c968b5c3b95 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 8 Jul 2024 22:55:42 +0900 Subject: [PATCH 104/306] feat(autoware_universe_utils): add TimeKeeper to track function's processing time (#7754) Signed-off-by: Takayuki Murooka --- common/autoware_universe_utils/CMakeLists.txt | 25 ++ common/autoware_universe_utils/README.md | 249 ++++++++++++++++++ .../examples/example_scoped_time_track.cpp | 61 +++++ .../examples/example_time_keeper.cpp | 64 +++++ .../universe_utils/system/time_keeper.hpp | 202 ++++++++++++++ .../src/system/time_keeper.cpp | 175 ++++++++++++ .../test/src/system/test_time_keeper.cpp | 53 ++++ .../path_optimizer/common_structs.hpp | 52 ---- .../autoware/path_optimizer/mpt_optimizer.hpp | 5 +- .../include/autoware/path_optimizer/node.hpp | 7 +- .../state_equation_generator.hpp | 7 +- .../src/mpt_optimizer.cpp | 63 ++--- planning/autoware_path_optimizer/src/node.cpp | 71 +++-- .../src/state_equation_generator.cpp | 3 +- 14 files changed, 893 insertions(+), 144 deletions(-) create mode 100644 common/autoware_universe_utils/examples/example_scoped_time_track.cpp create mode 100644 common/autoware_universe_utils/examples/example_time_keeper.cpp create mode 100644 common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp create mode 100644 common/autoware_universe_utils/src/system/time_keeper.cpp create mode 100644 common/autoware_universe_utils/test/src/system/test_time_keeper.cpp diff --git a/common/autoware_universe_utils/CMakeLists.txt b/common/autoware_universe_utils/CMakeLists.txt index 9e86ddeb60692..2fdeef2119ab8 100644 --- a/common/autoware_universe_utils/CMakeLists.txt +++ b/common/autoware_universe_utils/CMakeLists.txt @@ -1,11 +1,15 @@ cmake_minimum_required(VERSION 3.14) project(autoware_universe_utils) +option(BUILD_EXAMPLES "Build examples" OFF) + find_package(autoware_cmake REQUIRED) autoware_package() find_package(Boost REQUIRED) +find_package(fmt REQUIRED) + ament_auto_add_library(autoware_universe_utils SHARED src/geometry/geometry.cpp src/geometry/pose_deviation.cpp @@ -16,6 +20,11 @@ ament_auto_add_library(autoware_universe_utils SHARED src/ros/marker_helper.cpp src/ros/logger_level_configure.cpp src/system/backtrace.cpp + src/system/time_keeper.cpp +) + +target_link_libraries(autoware_universe_utils + fmt::fmt ) if(BUILD_TESTING) @@ -30,4 +39,20 @@ if(BUILD_TESTING) ) endif() +if(BUILD_EXAMPLES) + message(STATUS "Building examples") + file(GLOB_RECURSE example_files examples/*.cpp) + + foreach(example_file ${example_files}) + get_filename_component(example_name ${example_file} NAME_WE) + add_executable(${example_name} ${example_file}) + target_link_libraries(${example_name} + autoware_universe_utils + ) + install(TARGETS ${example_name} + DESTINATION lib/${PROJECT_NAME} + ) + endforeach() +endif() + ament_auto_package() diff --git a/common/autoware_universe_utils/README.md b/common/autoware_universe_utils/README.md index 22b9355b09635..2d24f84423299 100644 --- a/common/autoware_universe_utils/README.md +++ b/common/autoware_universe_utils/README.md @@ -7,3 +7,252 @@ This package contains many common functions used by other packages, so please re ## For developers `autoware_universe_utils.hpp` header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing. + +## `autoware::universe_utils` + +### `systems` + +#### `autoware::universe_utils::TimeKeeper` + +##### Constructor + +```cpp +template +explicit TimeKeeper(Reporters... reporters); +``` + +- Initializes the `TimeKeeper` with a list of reporters. + +##### Methods + +- `void add_reporter(std::ostream * os);` + + - Adds a reporter to output processing times to an `ostream`. + - `os`: Pointer to the `ostream` object. + +- `void add_reporter(rclcpp::Publisher::SharedPtr publisher);` + + - Adds a reporter to publish processing times to an `rclcpp` publisher. + - `publisher`: Shared pointer to the `rclcpp` publisher. + +- `void add_reporter(rclcpp::Publisher::SharedPtr publisher);` + + - Adds a reporter to publish processing times to an `rclcpp` publisher with `std_msgs::msg::String`. + - `publisher`: Shared pointer to the `rclcpp` publisher. + +- `void start_track(const std::string & func_name);` + + - Starts tracking the processing time of a function. + - `func_name`: Name of the function to be tracked. + +- `void end_track(const std::string & func_name);` + - Ends tracking the processing time of a function. + - `func_name`: Name of the function to end tracking. + +##### Example + +```cpp +#include "autoware/universe_utils/system/time_keeper.hpp" + +#include + +#include +#include + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared("time_keeper_example"); + + auto time_keeper = std::make_shared(); + + time_keeper->add_reporter(&std::cout); + + auto publisher = + node->create_publisher("processing_time", 10); + + time_keeper->add_reporter(publisher); + + auto publisher_str = node->create_publisher("processing_time_str", 10); + + time_keeper->add_reporter(publisher_str); + + auto funcA = [&time_keeper]() { + time_keeper->start_track("funcA"); + std::this_thread::sleep_for(std::chrono::seconds(1)); + time_keeper->end_track("funcA"); + }; + + auto funcB = [&time_keeper, &funcA]() { + time_keeper->start_track("funcB"); + std::this_thread::sleep_for(std::chrono::seconds(2)); + funcA(); + time_keeper->end_track("funcB"); + }; + + auto funcC = [&time_keeper, &funcB]() { + time_keeper->start_track("funcC"); + std::this_thread::sleep_for(std::chrono::seconds(3)); + funcB(); + time_keeper->end_track("funcC"); + }; + + funcC(); + + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} +``` + +- Output (console) + + ```text + ========================== + funcC (6000.7ms) + └── funcB (3000.44ms) + └── funcA (1000.19ms) + ``` + +- Output (`ros2 topic echo /processing_time`) + + ```text + nodes: + - id: 1 + name: funcC + processing_time: 6000.659 + parent_id: 0 + - id: 2 + name: funcB + processing_time: 3000.415 + parent_id: 1 + - id: 3 + name: funcA + processing_time: 1000.181 + parent_id: 2 + --- + ``` + +- Output (`ros2 topic echo /processing_time_str --field data`) + + ```text + funcC (6000.67ms) + └── funcB (3000.42ms) + └── funcA (1000.19ms) + + --- + ``` + +#### `autoware::universe_utils::ScopedTimeTrack` + +##### Description + +Class for automatically tracking the processing time of a function within a scope. + +##### Constructor + +```cpp +ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper); +``` + +- `func_name`: Name of the function to be tracked. +- `time_keeper`: Reference to the `TimeKeeper` object. + +##### Destructor + +```cpp +~ScopedTimeTrack(); +``` + +- Destroys the `ScopedTimeTrack` object, ending the tracking of the function. + +##### Example + +```cpp +#include "autoware/universe_utils/system/time_keeper.hpp" + +#include + +#include +#include + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared("scoped_time_track_example"); + + auto time_keeper = std::make_shared(); + + time_keeper->add_reporter(&std::cout); + + auto publisher = + node->create_publisher("processing_time", 10); + + time_keeper->add_reporter(publisher); + + auto publisher_str = node->create_publisher("processing_time_str", 10); + + time_keeper->add_reporter(publisher_str); + + auto funcA = [&time_keeper]() { + autoware::universe_utils::ScopedTimeTrack st("funcA", *time_keeper); + std::this_thread::sleep_for(std::chrono::seconds(1)); + }; + + auto funcB = [&time_keeper, &funcA]() { + autoware::universe_utils::ScopedTimeTrack st("funcB", *time_keeper); + std::this_thread::sleep_for(std::chrono::seconds(2)); + funcA(); + }; + + auto funcC = [&time_keeper, &funcB]() { + autoware::universe_utils::ScopedTimeTrack st("funcC", *time_keeper); + std::this_thread::sleep_for(std::chrono::seconds(3)); + funcB(); + }; + + funcC(); + + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} +``` + +- Output (console) + + ```text + ========================== + funcC (6000.7ms) + └── funcB (3000.44ms) + └── funcA (1000.19ms) + ``` + +- Output (`ros2 topic echo /processing_time`) + + ```text + nodes: + - id: 1 + name: funcC + processing_time: 6000.659 + parent_id: 0 + - id: 2 + name: funcB + processing_time: 3000.415 + parent_id: 1 + - id: 3 + name: funcA + processing_time: 1000.181 + parent_id: 2 + --- + ``` + +- Output (`ros2 topic echo /processing_time_str --field data`) + + ```text + funcC (6000.67ms) + └── funcB (3000.42ms) + └── funcA (1000.19ms) + + --- + ``` diff --git a/common/autoware_universe_utils/examples/example_scoped_time_track.cpp b/common/autoware_universe_utils/examples/example_scoped_time_track.cpp new file mode 100644 index 0000000000000..010cc58aba8ae --- /dev/null +++ b/common/autoware_universe_utils/examples/example_scoped_time_track.cpp @@ -0,0 +1,61 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "autoware/universe_utils/system/time_keeper.hpp" + +#include + +#include +#include + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared("scoped_time_track_example"); + + auto time_keeper = std::make_shared(); + + time_keeper->add_reporter(&std::cout); + + auto publisher = + node->create_publisher("processing_time", 10); + + time_keeper->add_reporter(publisher); + + auto publisher_str = node->create_publisher("processing_time_str", 10); + + time_keeper->add_reporter(publisher_str); + + auto funcA = [&time_keeper]() { + autoware::universe_utils::ScopedTimeTrack st("funcA", *time_keeper); + std::this_thread::sleep_for(std::chrono::seconds(1)); + }; + + auto funcB = [&time_keeper, &funcA]() { + autoware::universe_utils::ScopedTimeTrack st("funcB", *time_keeper); + std::this_thread::sleep_for(std::chrono::seconds(2)); + funcA(); + }; + + auto funcC = [&time_keeper, &funcB]() { + autoware::universe_utils::ScopedTimeTrack st("funcC", *time_keeper); + std::this_thread::sleep_for(std::chrono::seconds(3)); + funcB(); + }; + + funcC(); + + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/common/autoware_universe_utils/examples/example_time_keeper.cpp b/common/autoware_universe_utils/examples/example_time_keeper.cpp new file mode 100644 index 0000000000000..3f6037e68daac --- /dev/null +++ b/common/autoware_universe_utils/examples/example_time_keeper.cpp @@ -0,0 +1,64 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "autoware/universe_utils/system/time_keeper.hpp" + +#include + +#include +#include + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared("time_keeper_example"); + + auto time_keeper = std::make_shared(); + + time_keeper->add_reporter(&std::cout); + + auto publisher = + node->create_publisher("processing_time", 10); + + time_keeper->add_reporter(publisher); + + auto publisher_str = node->create_publisher("processing_time_str", 10); + + time_keeper->add_reporter(publisher_str); + + auto funcA = [&time_keeper]() { + time_keeper->start_track("funcA"); + std::this_thread::sleep_for(std::chrono::seconds(1)); + time_keeper->end_track("funcA"); + }; + + auto funcB = [&time_keeper, &funcA]() { + time_keeper->start_track("funcB"); + std::this_thread::sleep_for(std::chrono::seconds(2)); + funcA(); + time_keeper->end_track("funcB"); + }; + + auto funcC = [&time_keeper, &funcB]() { + time_keeper->start_track("funcC"); + std::this_thread::sleep_for(std::chrono::seconds(3)); + funcB(); + time_keeper->end_track("funcC"); + }; + + funcC(); + + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp new file mode 100644 index 0000000000000..96070f0f30b77 --- /dev/null +++ b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp @@ -0,0 +1,202 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef AUTOWARE__UNIVERSE_UTILS__SYSTEM__TIME_KEEPER_HPP_ +#define AUTOWARE__UNIVERSE_UTILS__SYSTEM__TIME_KEEPER_HPP_ + +#include "autoware/universe_utils/system/stop_watch.hpp" + +#include +#include + +#include +#include +#include + +#include + +#include +#include +#include +#include + +namespace autoware::universe_utils +{ +/** + * @brief Class representing a node in the time tracking tree + */ +class ProcessingTimeNode : public std::enable_shared_from_this +{ +public: + /** + * @brief Construct a new ProcessingTimeNode object + * + * @param name Name of the node + */ + explicit ProcessingTimeNode(const std::string & name); + + /** + * @brief Add a child node + * + * @param name Name of the child node + * @return std::shared_ptr Shared pointer to the newly added child node + */ + std::shared_ptr add_child(const std::string & name); + + /** + * @brief Get the result string representing the node and its children in a tree structure + * + * @return std::string Result string representing the node and its children + */ + std::string to_string() const; + + /** + * @brief Construct a ProcessingTimeTree message from the node and its children + * + * @return tier4_debug_msgs::msg::ProcessingTimeTree Constructed ProcessingTimeTree message + */ + tier4_debug_msgs::msg::ProcessingTimeTree to_msg() const; + + /** + * @brief Get the parent node + * + * @return std::shared_ptr Shared pointer to the parent node + */ + std::shared_ptr get_parent_node() const; + + /** + * @brief Get the child nodes + * + * @return std::vector> Vector of shared pointers to the child + * nodes + */ + std::vector> get_child_nodes() const; + + /** + * @brief Set the processing time for the node + * + * @param processing_time Processing time to be set + */ + void set_time(const double processing_time); + + /** + * @brief Get the name of the node + * + * @return std::string Name of the node + */ + std::string get_name() const; + +private: + const std::string name_; //!< Name of the node + double processing_time_{0.0}; //!< Processing time of the node + std::shared_ptr parent_node_{nullptr}; //!< Shared pointer to the parent node + std::vector> + child_nodes_; //!< Vector of shared pointers to the child nodes +}; + +using ProcessingTimeDetail = + tier4_debug_msgs::msg::ProcessingTimeTree; //!< Alias for the ProcessingTimeTree message + +/** + * @brief Class for tracking and reporting the processing time of various functions + */ +class TimeKeeper +{ +public: + template + explicit TimeKeeper(Reporters... reporters) : current_time_node_(nullptr), root_node_(nullptr) + { + reporters_.reserve(sizeof...(Reporters)); + (add_reporter(reporters), ...); + } + + /** + * @brief Add a reporter to output processing times to an ostream + * + * @param os Pointer to the ostream object + */ + void add_reporter(std::ostream * os); + + /** + * @brief Add a reporter to publish processing times to an rclcpp publisher + * + * @param publisher Shared pointer to the rclcpp publisher + */ + void add_reporter(rclcpp::Publisher::SharedPtr publisher); + + /** + * @brief Add a reporter to publish processing times to an rclcpp publisher with + * std_msgs::msg::String + * + * @param publisher Shared pointer to the rclcpp publisher + */ + void add_reporter(rclcpp::Publisher::SharedPtr publisher); + + /** + * @brief Start tracking the processing time of a function + * + * @param func_name Name of the function to be tracked + */ + void start_track(const std::string & func_name); + + /** + * @brief End tracking the processing time of a function + * + * @param func_name Name of the function to end tracking + */ + void end_track(const std::string & func_name); + +private: + /** + * @brief Report the processing times to all registered reporters + */ + void report(); + + std::shared_ptr + current_time_node_; //!< Shared pointer to the current time node + std::shared_ptr root_node_; //!< Shared pointer to the root time node + autoware::universe_utils::StopWatch< + std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> + stop_watch_; //!< StopWatch object for tracking the processing time + + std::vector &)>> + reporters_; //!< Vector of functions for reporting the processing times +}; + +/** + * @brief Class for automatically tracking the processing time of a function within a scope + */ +class ScopedTimeTrack +{ +public: + /** + * @brief Construct a new ScopedTimeTrack object + * + * @param func_name Name of the function to be tracked + * @param time_keeper Reference to the TimeKeeper object + */ + ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper); + + /** + * @brief Destroy the ScopedTimeTrack object, ending the tracking of the function + */ + ~ScopedTimeTrack(); + +private: + const std::string func_name_; //!< Name of the function being tracked + TimeKeeper & time_keeper_; //!< Reference to the TimeKeeper object +}; + +} // namespace autoware::universe_utils + +#endif // AUTOWARE__UNIVERSE_UTILS__SYSTEM__TIME_KEEPER_HPP_ diff --git a/common/autoware_universe_utils/src/system/time_keeper.cpp b/common/autoware_universe_utils/src/system/time_keeper.cpp new file mode 100644 index 0000000000000..58bed6677227c --- /dev/null +++ b/common/autoware_universe_utils/src/system/time_keeper.cpp @@ -0,0 +1,175 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/universe_utils/system/time_keeper.hpp" + +#include +#include + +namespace autoware::universe_utils +{ + +ProcessingTimeNode::ProcessingTimeNode(const std::string & name) : name_(name) +{ +} + +std::shared_ptr ProcessingTimeNode::add_child(const std::string & name) +{ + auto new_child_node = std::make_shared(name); + new_child_node->parent_node_ = shared_from_this(); + child_nodes_.push_back(new_child_node); + return new_child_node; +} + +std::string ProcessingTimeNode::to_string() const +{ + std::function + construct_string = [&]( + const ProcessingTimeNode & node, std::ostringstream & oss, + const std::string & prefix, bool is_last, bool is_root) { + if (!is_root) { + oss << prefix << (is_last ? "└── " : "├── "); + } + oss << node.name_ << " (" << node.processing_time_ << "ms)\n"; + for (size_t i = 0; i < node.child_nodes_.size(); ++i) { + const auto & child = node.child_nodes_[i]; + construct_string( + *child, oss, prefix + (is_last ? " " : "│ "), i == node.child_nodes_.size() - 1, + false); + } + }; + + std::ostringstream oss; + construct_string(*this, oss, "", true, true); + return oss.str(); +} + +tier4_debug_msgs::msg::ProcessingTimeTree ProcessingTimeNode::to_msg() const +{ + tier4_debug_msgs::msg::ProcessingTimeTree time_tree_msg; + + std::function + construct_msg = [&]( + const ProcessingTimeNode & node, + tier4_debug_msgs::msg::ProcessingTimeTree & tree_msg, int parent_id) { + tier4_debug_msgs::msg::ProcessingTimeNode time_node_msg; + time_node_msg.name = node.name_; + time_node_msg.processing_time = node.processing_time_; + time_node_msg.id = tree_msg.nodes.size() + 1; + time_node_msg.parent_id = parent_id; + tree_msg.nodes.emplace_back(time_node_msg); + + for (const auto & child : node.child_nodes_) { + construct_msg(*child, tree_msg, time_node_msg.id); + } + }; + construct_msg(*this, time_tree_msg, 0); + + return time_tree_msg; +} + +std::shared_ptr ProcessingTimeNode::get_parent_node() const +{ + return parent_node_; +} +std::vector> ProcessingTimeNode::get_child_nodes() const +{ + return child_nodes_; +} +void ProcessingTimeNode::set_time(const double processing_time) +{ + processing_time_ = processing_time; +} +std::string ProcessingTimeNode::get_name() const +{ + return name_; +} + +void TimeKeeper::add_reporter(std::ostream * os) +{ + reporters_.emplace_back([os](const std::shared_ptr & node) { + *os << "==========================" << std::endl; + *os << node->to_string() << std::endl; + }); +} + +void TimeKeeper::add_reporter(rclcpp::Publisher::SharedPtr publisher) +{ + reporters_.emplace_back([publisher](const std::shared_ptr & node) { + publisher->publish(node->to_msg()); + }); +} + +void TimeKeeper::add_reporter(rclcpp::Publisher::SharedPtr publisher) +{ + reporters_.emplace_back([publisher](const std::shared_ptr & node) { + std_msgs::msg::String msg; + msg.data = node->to_string(); + publisher->publish(msg); + }); +} + +void TimeKeeper::start_track(const std::string & func_name) +{ + if (current_time_node_ == nullptr) { + current_time_node_ = std::make_shared(func_name); + root_node_ = current_time_node_; + } else { + current_time_node_ = current_time_node_->add_child(func_name); + } + stop_watch_.tic(func_name); +} + +void TimeKeeper::end_track(const std::string & func_name) +{ + if (current_time_node_->get_name() != func_name) { + throw std::runtime_error(fmt::format( + "You must call end_track({}) first, but end_track({}) is called", + current_time_node_->get_name(), func_name)); + } + const double processing_time = stop_watch_.toc(func_name); + current_time_node_->set_time(processing_time); + current_time_node_ = current_time_node_->get_parent_node(); + + if (current_time_node_ == nullptr) { + report(); + } +} + +void TimeKeeper::report() +{ + if (current_time_node_ != nullptr) { + throw std::runtime_error(fmt::format( + "You must call end_track({}) first, but report() is called", current_time_node_->get_name())); + } + for (const auto & reporter : reporters_) { + reporter(root_node_); + } + current_time_node_.reset(); + root_node_.reset(); +} + +ScopedTimeTrack::ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper) +: func_name_(func_name), time_keeper_(time_keeper) +{ + time_keeper_.start_track(func_name_); +} + +ScopedTimeTrack::~ScopedTimeTrack() +{ + time_keeper_.end_track(func_name_); +} + +} // namespace autoware::universe_utils diff --git a/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp new file mode 100644 index 0000000000000..71ca7cc74bec5 --- /dev/null +++ b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp @@ -0,0 +1,53 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/universe_utils/system/time_keeper.hpp" + +#include +#include + +#include + +#include +#include +#include + +TEST(system, TimeKeeper) +{ + using autoware::universe_utils::ScopedTimeTrack; + using autoware::universe_utils::TimeKeeper; + + rclcpp::Node node{"sample_node"}; + + auto publisher = node.create_publisher( + "~/debug/processing_time_tree", 1); + + TimeKeeper time_keeper(&std::cerr, publisher); + + ScopedTimeTrack st{"main_func", time_keeper}; + + { // funcA + ScopedTimeTrack st{"funcA", time_keeper}; + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + + { // funcB + ScopedTimeTrack st{"funcB", time_keeper}; + std::this_thread::sleep_for(std::chrono::seconds(1)); + { // funcC + ScopedTimeTrack st{"funcC", time_keeper}; + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + } +} diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/common_structs.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/common_structs.hpp index 7f2688ffaad95..399262f93e19d 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/common_structs.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/common_structs.hpp @@ -17,7 +17,6 @@ #include "autoware/path_optimizer/type_alias.hpp" #include "autoware/universe_utils/ros/update_param.hpp" -#include "autoware/universe_utils/system/stop_watch.hpp" #include "rclcpp/rclcpp.hpp" #include @@ -43,57 +42,6 @@ struct PlannerData double ego_vel{}; }; -struct TimeKeeper -{ - void init() - { - accumulated_msg = "\n"; - accumulated_time = 0.0; - } - - template - TimeKeeper & operator<<(const T & msg) - { - latest_stream << msg; - return *this; - } - - void endLine() - { - const auto msg = latest_stream.str(); - accumulated_msg += msg + "\n"; - latest_stream.str(""); - - if (enable_calculation_time_info) { - RCLCPP_INFO_STREAM(rclcpp::get_logger("autoware_path_optimizer.time"), msg); - } - } - - void tic(const std::string & func_name) { stop_watch_.tic(func_name); } - - void toc(const std::string & func_name, const std::string & white_spaces) - { - const double elapsed_time = stop_watch_.toc(func_name); - *this << white_spaces << func_name << ":= " << elapsed_time << " [ms]"; - accumulated_time = elapsed_time; - endLine(); - } - - std::string getLog() const { return accumulated_msg; } - - bool enable_calculation_time_info; - std::string accumulated_msg = "\n"; - std::stringstream latest_stream; - - double getAccumulatedTime() const { return accumulated_time; } - - double accumulated_time{0.0}; - - autoware::universe_utils::StopWatch< - std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> - stop_watch_; -}; - struct DebugData { // settting diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp index 4303e5c7e05b4..3443ab663b642 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp @@ -19,6 +19,7 @@ #include "autoware/path_optimizer/state_equation_generator.hpp" #include "autoware/path_optimizer/type_alias.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include "gtest/gtest.h" #include "interpolation/linear_interpolation.hpp" @@ -107,7 +108,7 @@ class MPTOptimizer rclcpp::Node * node, const bool enable_debug_info, const EgoNearestParam ego_nearest_param, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const TrajectoryParam & traj_param, const std::shared_ptr debug_data_ptr, - const std::shared_ptr time_keeper_ptr); + const std::shared_ptr time_keeper_); std::vector optimizeTrajectory(const PlannerData & planner_data); std::optional> getPrevOptimizedTrajectoryPoints() const; @@ -222,7 +223,7 @@ class MPTOptimizer autoware::vehicle_info_utils::VehicleInfo vehicle_info_; TrajectoryParam traj_param_; mutable std::shared_ptr debug_data_ptr_; - mutable std::shared_ptr time_keeper_ptr_; + mutable std::shared_ptr time_keeper_; rclcpp::Logger logger_; MPTParam mpt_param_; diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp index 359c20f2a4d29..6f75c649e02b2 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp @@ -22,10 +22,11 @@ #include "autoware/path_optimizer/type_alias.hpp" #include "autoware/universe_utils/ros/logger_level_configure.hpp" #include "autoware/universe_utils/ros/polling_subscriber.hpp" +#include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" -#include "rclcpp/rclcpp.hpp" #include +#include #include #include @@ -65,7 +66,7 @@ class PathOptimizer : public rclcpp::Node // argument variables autoware::vehicle_info_utils::VehicleInfo vehicle_info_{}; mutable std::shared_ptr debug_data_ptr_{nullptr}; - mutable std::shared_ptr time_keeper_ptr_{nullptr}; + mutable std::shared_ptr time_keeper_{nullptr}; // flags for some functions bool enable_pub_debug_marker_; @@ -98,6 +99,8 @@ class PathOptimizer : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_markers_pub_; rclcpp::Publisher::SharedPtr debug_calculation_time_str_pub_; rclcpp::Publisher::SharedPtr debug_calculation_time_float_pub_; + rclcpp::Publisher::SharedPtr + debug_processing_time_detail_pub_; // parameter callback rcl_interfaces::msg::SetParametersResult onParam( diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/state_equation_generator.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/state_equation_generator.hpp index b8162f5ef2d32..1d23d7788dca1 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/state_equation_generator.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/state_equation_generator.hpp @@ -18,6 +18,7 @@ #include "autoware/path_optimizer/common_structs.hpp" #include "autoware/path_optimizer/vehicle_model/vehicle_model_bicycle_kinematics.hpp" #include "autoware/path_optimizer/vehicle_model/vehicle_model_interface.hpp" +#include "autoware/universe_utils/system/time_keeper.hpp" #include #include @@ -39,9 +40,9 @@ class StateEquationGenerator StateEquationGenerator() = default; StateEquationGenerator( const double wheel_base, const double max_steer_rad, - const std::shared_ptr time_keeper_ptr) + const std::shared_ptr time_keeper) : vehicle_model_ptr_(std::make_unique(wheel_base, max_steer_rad)), - time_keeper_ptr_(time_keeper_ptr) + time_keeper_(time_keeper) { } @@ -56,7 +57,7 @@ class StateEquationGenerator private: std::unique_ptr vehicle_model_ptr_; - mutable std::shared_ptr time_keeper_ptr_; + mutable std::shared_ptr time_keeper_; }; } // namespace autoware::path_optimizer #endif // AUTOWARE__PATH_OPTIMIZER__STATE_EQUATION_GENERATOR_HPP_ diff --git a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp index b5fd266006a48..45943d7deec09 100644 --- a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp +++ b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp @@ -395,13 +395,13 @@ MPTOptimizer::MPTOptimizer( rclcpp::Node * node, const bool enable_debug_info, const EgoNearestParam ego_nearest_param, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const TrajectoryParam & traj_param, const std::shared_ptr debug_data_ptr, - const std::shared_ptr time_keeper_ptr) + const std::shared_ptr time_keeper) : enable_debug_info_(enable_debug_info), ego_nearest_param_(ego_nearest_param), vehicle_info_(vehicle_info), traj_param_(traj_param), debug_data_ptr_(debug_data_ptr), - time_keeper_ptr_(time_keeper_ptr), + time_keeper_(time_keeper), logger_(node->get_logger().get_child("mpt_optimizer")) { // initialize mpt param @@ -411,7 +411,7 @@ MPTOptimizer::MPTOptimizer( // state equation generator state_equation_generator_ = - StateEquationGenerator(vehicle_info_.wheel_base_m, mpt_param_.max_steer_rad, time_keeper_ptr_); + StateEquationGenerator(vehicle_info_.wheel_base_m, mpt_param_.max_steer_rad, time_keeper_); // osqp solver osqp_solver_ptr_ = std::make_unique(osqp_epsilon_); @@ -470,7 +470,7 @@ void MPTOptimizer::onParam(const std::vector & parameters) std::vector MPTOptimizer::optimizeTrajectory(const PlannerData & planner_data) { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & p = planner_data; const auto & traj_points = p.traj_points; @@ -520,8 +520,6 @@ std::vector MPTOptimizer::optimizeTrajectory(const PlannerData // 8. publish trajectories for debug publishDebugTrajectories(p.header, ref_points, *mpt_traj_points); - time_keeper_ptr_->toc(__func__, " "); - debug_data_ptr_->ref_points = ref_points; prev_ref_points_ptr_ = std::make_shared>(ref_points); prev_optimized_traj_points_ptr_ = @@ -541,7 +539,7 @@ std::optional> MPTOptimizer::getPrevOptimizedTrajec std::vector MPTOptimizer::calcReferencePoints( const PlannerData & planner_data, const std::vector & smoothed_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & p = planner_data; @@ -549,14 +547,14 @@ std::vector MPTOptimizer::calcReferencePoints( const double backward_traj_length = traj_param_.output_backward_traj_length; // 1. resample and convert smoothed points type from trajectory points to reference points - time_keeper_ptr_->tic("resampleReferencePoints"); + time_keeper_->start_track("resampleReferencePoints"); auto ref_points = [&]() { const auto resampled_smoothed_points = trajectory_utils::resampleTrajectoryPointsWithoutStopPoint( smoothed_points, mpt_param_.delta_arc_length); return trajectory_utils::convertToReferencePoints(resampled_smoothed_points); }(); - time_keeper_ptr_->toc("resampleReferencePoints", " "); + time_keeper_->end_track("resampleReferencePoints"); // 2. crop forward and backward with margin, and calculate spline interpolation // NOTE: Margin is added to calculate orientation, curvature, etc precisely. @@ -611,8 +609,6 @@ std::vector MPTOptimizer::calcReferencePoints( ref_points.resize(mpt_param_.num_points); } - time_keeper_ptr_->toc(__func__, " "); - return ref_points; } @@ -639,7 +635,7 @@ void MPTOptimizer::updateCurvature( void MPTOptimizer::updateFixedPoint(std::vector & ref_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (!prev_ref_points_ptr_) { // no fixed point @@ -681,8 +677,6 @@ void MPTOptimizer::updateFixedPoint(std::vector & ref_points) co ref_points.front().curvature = front_point.curvature; ref_points.front().fixed_kinematic_state = front_point.optimized_kinematic_state; } - - time_keeper_ptr_->toc(__func__, " "); } void MPTOptimizer::updateDeltaArcLength(std::vector & ref_points) const @@ -697,7 +691,7 @@ void MPTOptimizer::updateDeltaArcLength(std::vector & ref_points void MPTOptimizer::updateExtraPoints(std::vector & ref_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // alpha for (size_t i = 0; i < ref_points.size(); ++i) { @@ -786,8 +780,6 @@ void MPTOptimizer::updateExtraPoints(std::vector & ref_points) c } } } - - time_keeper_ptr_->toc(__func__, " "); } void MPTOptimizer::updateBounds( @@ -796,7 +788,7 @@ void MPTOptimizer::updateBounds( const std::vector & right_bound, const geometry_msgs::msg::Pose & ego_pose, const double ego_vel) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const double soft_road_clearance = mpt_param_.soft_clearance_from_road + vehicle_info_.vehicle_width_m / 2.0; @@ -844,8 +836,6 @@ void MPTOptimizer::updateBounds( } } */ - - time_keeper_ptr_->toc(__func__, " "); return; } @@ -1104,7 +1094,7 @@ void MPTOptimizer::updateVehicleBounds( std::vector & ref_points, const SplineInterpolationPoints2d & ref_points_spline) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); for (size_t p_idx = 0; p_idx < ref_points.size(); ++p_idx) { const auto & ref_point = ref_points.at(p_idx); @@ -1160,8 +1150,6 @@ void MPTOptimizer::updateVehicleBounds( ref_points.at(p_idx).pose_on_constraints.push_back(vehicle_bounds_pose); } } - - time_keeper_ptr_->toc(__func__, " "); } // cost function: J = x' Q x + u' R u @@ -1169,7 +1157,7 @@ MPTOptimizer::ValueMatrix MPTOptimizer::calcValueMatrix( const std::vector & ref_points, const std::vector & traj_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const size_t D_x = state_equation_generator_.getDimX(); const size_t D_u = state_equation_generator_.getDimU(); @@ -1228,7 +1216,6 @@ MPTOptimizer::ValueMatrix MPTOptimizer::calcValueMatrix( R_sparse_mat.setFromTriplets(R_triplet_vec.begin(), R_triplet_vec.end()); - time_keeper_ptr_->toc(__func__, " "); return ValueMatrix{Q_sparse_mat, R_sparse_mat}; } @@ -1236,7 +1223,7 @@ MPTOptimizer::ObjectiveMatrix MPTOptimizer::calcObjectiveMatrix( [[maybe_unused]] const StateEquationGenerator::Matrix & mpt_mat, const ValueMatrix & val_mat, const std::vector & ref_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const size_t D_x = state_equation_generator_.getDimX(); const size_t D_u = state_equation_generator_.getDimU(); @@ -1286,7 +1273,6 @@ MPTOptimizer::ObjectiveMatrix MPTOptimizer::calcObjectiveMatrix( obj_matrix.hessian = H; obj_matrix.gradient = g; - time_keeper_ptr_->toc(__func__, " "); return obj_matrix; } @@ -1297,7 +1283,7 @@ MPTOptimizer::ConstraintMatrix MPTOptimizer::calcConstraintMatrix( const StateEquationGenerator::Matrix & mpt_mat, const std::vector & ref_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const size_t D_x = state_equation_generator_.getDimX(); const size_t D_u = state_equation_generator_.getDimU(); @@ -1451,7 +1437,6 @@ MPTOptimizer::ConstraintMatrix MPTOptimizer::calcConstraintMatrix( A_rows_end += N_u; } - time_keeper_ptr_->toc(__func__, " "); return ConstraintMatrix{A, lb, ub}; } @@ -1477,7 +1462,7 @@ std::optional MPTOptimizer::calcOptimizedSteerAngles( const std::vector & ref_points, const ObjectiveMatrix & obj_mat, const ConstraintMatrix & const_mat) { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const size_t D_x = state_equation_generator_.getDimX(); const size_t D_u = state_equation_generator_.getDimU(); @@ -1510,7 +1495,7 @@ std::optional MPTOptimizer::calcOptimizedSteerAngles( const auto lower_bound = toStdVector(updated_const_mat.lower_bound); // initialize or update solver according to warm start - time_keeper_ptr_->tic("initOsqp"); + time_keeper_->start_track("initOsqp"); const autoware::common::osqp::CSC_Matrix P_csc = autoware::common::osqp::calCSCMatrixTrapezoidal(H); @@ -1530,13 +1515,12 @@ std::optional MPTOptimizer::calcOptimizedSteerAngles( } prev_mat_n_ = H.rows(); prev_mat_m_ = A.rows(); - - time_keeper_ptr_->toc("initOsqp", " "); + time_keeper_->end_track("initOsqp"); // solve qp - time_keeper_ptr_->tic("solveOsqp"); + time_keeper_->start_track("solveOsqp"); const auto result = osqp_solver_ptr_->optimize(); - time_keeper_ptr_->toc("solveOsqp", " "); + time_keeper_->end_track("solveOsqp"); // check solution status const int solution_status = std::get<3>(result); @@ -1563,8 +1547,6 @@ std::optional MPTOptimizer::calcOptimizedSteerAngles( const Eigen::VectorXd optimized_variables = Eigen::Map(&optimization_result[0], N_v); - time_keeper_ptr_->toc(__func__, " "); - if (u0) { // manual warm start return static_cast(optimized_variables + *u0); } @@ -1647,7 +1629,7 @@ std::optional> MPTOptimizer::calcMPTPoints( std::vector & ref_points, const Eigen::VectorXd & optimized_variables, [[maybe_unused]] const StateEquationGenerator::Matrix & mpt_mat) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const size_t D_x = state_equation_generator_.getDimX(); const size_t D_u = state_equation_generator_.getDimU(); @@ -1700,7 +1682,6 @@ std::optional> MPTOptimizer::calcMPTPoints( traj_points.push_back(traj_point); } - time_keeper_ptr_->toc(__func__, " "); return traj_points; } @@ -1708,7 +1689,7 @@ void MPTOptimizer::publishDebugTrajectories( const std_msgs::msg::Header & header, const std::vector & ref_points, const std::vector & mpt_traj_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // reference points const auto ref_traj = autoware::motion_utils::convertToTrajectory( @@ -1723,8 +1704,6 @@ void MPTOptimizer::publishDebugTrajectories( // mpt points const auto mpt_traj = autoware::motion_utils::convertToTrajectory(mpt_traj_points, header); debug_mpt_traj_pub_->publish(mpt_traj); - - time_keeper_ptr_->toc(__func__, " "); } std::vector MPTOptimizer::extractFixedPoints( diff --git a/planning/autoware_path_optimizer/src/node.cpp b/planning/autoware_path_optimizer/src/node.cpp index 3899867a9dcce..7c73d1ad1fee3 100644 --- a/planning/autoware_path_optimizer/src/node.cpp +++ b/planning/autoware_path_optimizer/src/node.cpp @@ -23,6 +23,7 @@ #include "rclcpp/time.hpp" #include +#include #include namespace autoware::path_optimizer @@ -38,7 +39,8 @@ std::vector concatVectors(const std::vector & prev_vector, const std::vect return concatenated_vector; } -StringStamped createStringStamped(const rclcpp::Time & now, const std::string & data) +[[maybe_unused]] StringStamped createStringStamped( + const rclcpp::Time & now, const std::string & data) { StringStamped msg; msg.stamp = now; @@ -46,7 +48,7 @@ StringStamped createStringStamped(const rclcpp::Time & now, const std::string & return msg; } -Float64Stamped createFloat64Stamped(const rclcpp::Time & now, const float & data) +[[maybe_unused]] Float64Stamped createFloat64Stamped(const rclcpp::Time & now, const float & data) { Float64Stamped msg; msg.stamp = now; @@ -85,8 +87,7 @@ std::vector calcSegmentLengthVector(const std::vector & PathOptimizer::PathOptimizer(const rclcpp::NodeOptions & node_options) : Node("path_optimizer", node_options), vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo()), - debug_data_ptr_(std::make_shared()), - time_keeper_ptr_(std::make_shared()) + debug_data_ptr_(std::make_shared()) { // interface publisher traj_pub_ = create_publisher("~/output/path", 1); @@ -102,6 +103,9 @@ PathOptimizer::PathOptimizer(const rclcpp::NodeOptions & node_options) debug_calculation_time_str_pub_ = create_publisher("~/debug/calculation_time", 1); debug_calculation_time_float_pub_ = create_publisher("~/debug/processing_time_ms", 1); + debug_processing_time_detail_pub_ = + create_publisher( + "~/debug/processing_time_detail_ms", 1); { // parameters // parameter for option @@ -120,8 +124,6 @@ PathOptimizer::PathOptimizer(const rclcpp::NodeOptions & node_options) // parameter for debug info enable_debug_info_ = declare_parameter("option.debug.enable_debug_info"); - time_keeper_ptr_->enable_calculation_time_info = - declare_parameter("option.debug.enable_calculation_time_info"); vehicle_stop_margin_outside_drivable_area_ = declare_parameter("common.vehicle_stop_margin_outside_drivable_area"); @@ -133,11 +135,14 @@ PathOptimizer::PathOptimizer(const rclcpp::NodeOptions & node_options) traj_param_ = TrajectoryParam(this); } + time_keeper_ = + std::make_shared(debug_processing_time_detail_pub_); + // create core algorithm pointers with parameter declaration replan_checker_ptr_ = std::make_shared(this, ego_nearest_param_); mpt_optimizer_ptr_ = std::make_shared( this, enable_debug_info_, ego_nearest_param_, vehicle_info_, traj_param_, debug_data_ptr_, - time_keeper_ptr_); + time_keeper_); // reset planners // NOTE: This function must be called after core algorithms (e.g. mpt_optimizer_) have been @@ -177,9 +182,6 @@ rcl_interfaces::msg::SetParametersResult PathOptimizer::onParam( // parameters for debug info updateParam(parameters, "option.debug.enable_debug_info", enable_debug_info_); - updateParam( - parameters, "option.debug.enable_calculation_time_info", - time_keeper_ptr_->enable_calculation_time_info); updateParam( parameters, "common.vehicle_stop_margin_outside_drivable_area", @@ -220,8 +222,7 @@ void PathOptimizer::resetPreviousData() void PathOptimizer::onPath(const Path::ConstSharedPtr path_ptr) { - time_keeper_ptr_->init(); - time_keeper_ptr_->tic(__func__); + time_keeper_->start_track(__func__); // check if input path is valid if (!checkInputPath(*path_ptr, *get_clock())) { @@ -267,21 +268,21 @@ void PathOptimizer::onPath(const Path::ConstSharedPtr path_ptr) // 5. publish debug data publishDebugData(planner_data.header); - time_keeper_ptr_->toc(__func__, ""); - *time_keeper_ptr_ << "========================================"; - time_keeper_ptr_->endLine(); - // publish calculation_time // NOTE: This function must be called after measuring onPath calculation time + /* const auto calculation_time_msg = createStringStamped(now(), time_keeper_ptr_->getLog()); debug_calculation_time_str_pub_->publish(calculation_time_msg); debug_calculation_time_float_pub_->publish( createFloat64Stamped(now(), time_keeper_ptr_->getAccumulatedTime())); + */ const auto output_traj_msg = autoware::motion_utils::convertToTrajectory(full_traj_points, path_ptr->header); traj_pub_->publish(output_traj_msg); published_time_publisher_->publish_if_subscribed(traj_pub_, output_traj_msg.header.stamp); + + time_keeper_->end_track(__func__); } bool PathOptimizer::checkInputPath(const Path & path, rclcpp::Clock clock) const @@ -319,7 +320,7 @@ PlannerData PathOptimizer::createPlannerData( std::vector PathOptimizer::generateOptimizedTrajectory( const PlannerData & planner_data) { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & input_traj_points = planner_data.traj_points; @@ -339,13 +340,12 @@ std::vector PathOptimizer::generateOptimizedTrajectory( // 4. publish debug marker publishDebugMarkerOfOptimization(optimized_traj_points); - time_keeper_ptr_->toc(__func__, " "); return optimized_traj_points; } std::vector PathOptimizer::optimizeTrajectory(const PlannerData & planner_data) { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & p = planner_data; // 1. check if replan (= optimization) is required @@ -372,7 +372,6 @@ std::vector PathOptimizer::optimizeTrajectory(const PlannerData // with model predictive trajectory const auto mpt_traj = mpt_optimizer_ptr_->optimizeTrajectory(planner_data); - time_keeper_ptr_->toc(__func__, " "); return mpt_traj; } @@ -391,7 +390,7 @@ void PathOptimizer::applyInputVelocity( const std::vector & input_traj_points, const geometry_msgs::msg::Pose & ego_pose) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // crop forward for faster calculation const auto forward_cropped_input_traj_points = [&]() { @@ -486,14 +485,12 @@ void PathOptimizer::applyInputVelocity( trajectory_utils::insertStopPoint(output_traj_points, input_stop_pose, *stop_seg_idx); } } - - time_keeper_ptr_->toc(__func__, " "); } void PathOptimizer::insertZeroVelocityOutsideDrivableArea( const PlannerData & planner_data, std::vector & optimized_traj_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (optimized_traj_points.empty()) { return; @@ -553,13 +550,11 @@ void PathOptimizer::insertZeroVelocityOutsideDrivableArea( } else { debug_data_ptr_->stop_pose_by_drivable_area = std::nullopt; } - - time_keeper_ptr_->toc(__func__, " "); } void PathOptimizer::publishVirtualWall(const geometry_msgs::msg::Pose & stop_pose) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); auto virtual_wall_marker = autoware::motion_utils::createStopVirtualWallMarker( stop_pose, "outside drivable area", now(), 0, vehicle_info_.max_longitudinal_offset_m); @@ -569,36 +564,33 @@ void PathOptimizer::publishVirtualWall(const geometry_msgs::msg::Pose & stop_pos } virtual_wall_pub_->publish(virtual_wall_marker); - time_keeper_ptr_->toc(__func__, " "); } void PathOptimizer::publishDebugMarkerOfOptimization( const std::vector & traj_points) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + if (!enable_pub_debug_marker_) { return; } - time_keeper_ptr_->tic(__func__); - // debug marker - time_keeper_ptr_->tic("getDebugMarker"); + time_keeper_->start_track("getDebugMarker"); const auto debug_marker = getDebugMarker(*debug_data_ptr_, traj_points, vehicle_info_, enable_pub_extra_debug_marker_); - time_keeper_ptr_->toc("getDebugMarker", " "); + time_keeper_->end_track("getDebugMarker"); - time_keeper_ptr_->tic("publishDebugMarker"); + time_keeper_->start_track("publishDebugMarker"); debug_markers_pub_->publish(debug_marker); - time_keeper_ptr_->toc("publishDebugMarker", " "); - - time_keeper_ptr_->toc(__func__, " "); + time_keeper_->end_track("publishDebugMarker"); } std::vector PathOptimizer::extendTrajectory( const std::vector & traj_points, const std::vector & optimized_traj_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & joint_start_pose = optimized_traj_points.back().pose; @@ -654,20 +646,17 @@ std::vector PathOptimizer::extendTrajectory( // debug_data_ptr_->extended_traj_points = // extended_traj_points ? *extended_traj_points : std::vector(); - time_keeper_ptr_->toc(__func__, " "); return resampled_traj_points; } void PathOptimizer::publishDebugData(const Header & header) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // publish trajectories const auto debug_extended_traj = autoware::motion_utils::convertToTrajectory(debug_data_ptr_->extended_traj_points, header); debug_extended_traj_pub_->publish(debug_extended_traj); - - time_keeper_ptr_->toc(__func__, " "); } } // namespace autoware::path_optimizer diff --git a/planning/autoware_path_optimizer/src/state_equation_generator.cpp b/planning/autoware_path_optimizer/src/state_equation_generator.cpp index 5aa2ab4ffbfa8..74033c5834db2 100644 --- a/planning/autoware_path_optimizer/src/state_equation_generator.cpp +++ b/planning/autoware_path_optimizer/src/state_equation_generator.cpp @@ -23,7 +23,7 @@ namespace autoware::path_optimizer StateEquationGenerator::Matrix StateEquationGenerator::calcMatrix( const std::vector & ref_points) const { - time_keeper_ptr_->tic(__func__); + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const size_t D_x = vehicle_model_ptr_->getDimX(); const size_t D_u = vehicle_model_ptr_->getDimU(); @@ -60,7 +60,6 @@ StateEquationGenerator::Matrix StateEquationGenerator::calcMatrix( W.segment(i * D_x, D_x) = Wd; } - time_keeper_ptr_->toc(__func__, " "); return Matrix{A, B, W}; } From 6c45ec5463110a02766aa18f454fdc7829c59f7c Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 9 Jul 2024 09:29:58 +0900 Subject: [PATCH 105/306] fix(multi_object_tracker): fix publish interval adjust timing (#7904) refactor: optimize publish time check in multi_object_tracker_node.cpp Signed-off-by: Taekjin LEE --- .../multi_object_tracker/src/multi_object_tracker_node.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp index d3e1c9686b69b..198d9e2238566 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp @@ -221,8 +221,9 @@ void MultiObjectTracker::onTrigger() } else { // Publish if the next publish time is close const double minimum_publish_interval = publisher_period_ * 0.70; // 70% of the period - if ((current_time - last_published_time_).seconds() > minimum_publish_interval) { - checkAndPublish(current_time); + const rclcpp::Time publish_time = this->now(); + if ((publish_time - last_published_time_).seconds() > minimum_publish_interval) { + checkAndPublish(publish_time); } } } From f397b1cc2336a236380852484ab923fdfceb2b5b Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 9 Jul 2024 09:55:53 +0900 Subject: [PATCH 106/306] refactor(tier4_perception_launch): add maintainer to tier4_perception_launch (#7893) refactor: add maintainer to tier4_perception_launch Signed-off-by: Taekjin LEE --- launch/tier4_perception_launch/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 57d4b209efeef..5c15a937304ad 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -7,6 +7,7 @@ Yukihiro Saito Shunsuke Miura Yoshi Ri + Taekjin Lee Apache License 2.0 ament_cmake_auto From 022e8d23365dcc959d209cc72aa2e6efef3d4d56 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 9 Jul 2024 11:24:09 +0900 Subject: [PATCH 107/306] refactor(euclidean_cluster)!: fix namespace and directory structure (#7887) * refactor: update include paths for euclidean_cluster code Signed-off-by: Taekjin LEE refactor: fix namespace Signed-off-by: Taekjin LEE chore: update include paths for euclidean_cluster code Signed-off-by: Taekjin LEE * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/debugger/debugger.hpp | 3 -- .../src/detection_by_tracker_node.cpp | 4 +-- .../src/detection_by_tracker_node.hpp | 8 +++--- perception/euclidean_cluster/CMakeLists.txt | 28 +++++++++---------- .../euclidean_cluster/euclidean_cluster.hpp | 8 +++--- .../euclidean_cluster_interface.hpp | 4 +-- .../euclidean_cluster/utils.hpp | 4 +-- .../voxel_grid_based_euclidean_cluster.hpp | 8 +++--- .../launch/euclidean_cluster.launch.py | 4 +-- ...xel_grid_based_euclidean_cluster.launch.py | 4 +-- .../lib/euclidean_cluster.cpp | 6 ++-- perception/euclidean_cluster/lib/utils.cpp | 6 ++-- .../voxel_grid_based_euclidean_cluster.cpp | 6 ++-- .../src/euclidean_cluster_node.cpp | 8 +++--- .../src/euclidean_cluster_node.hpp | 7 +++-- ...oxel_grid_based_euclidean_cluster_node.cpp | 8 +++--- ...oxel_grid_based_euclidean_cluster_node.hpp | 6 ++-- .../src/roi_pointcloud_fusion/node.cpp | 4 +-- 18 files changed, 62 insertions(+), 64 deletions(-) rename perception/euclidean_cluster/include/{ => autoware}/euclidean_cluster/euclidean_cluster.hpp (87%) rename perception/euclidean_cluster/include/{ => autoware}/euclidean_cluster/euclidean_cluster_interface.hpp (95%) rename perception/euclidean_cluster/include/{ => autoware}/euclidean_cluster/utils.hpp (94%) rename perception/euclidean_cluster/include/{ => autoware}/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp (90%) diff --git a/perception/detection_by_tracker/src/debugger/debugger.hpp b/perception/detection_by_tracker/src/debugger/debugger.hpp index 56f37fb10043d..bda42aa5f0b55 100644 --- a/perception/detection_by_tracker/src/debugger/debugger.hpp +++ b/perception/detection_by_tracker/src/debugger/debugger.hpp @@ -17,9 +17,6 @@ #include "autoware/universe_utils/ros/debug_publisher.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" -#include "euclidean_cluster/euclidean_cluster.hpp" -#include "euclidean_cluster/utils.hpp" -#include "euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" #include diff --git a/perception/detection_by_tracker/src/detection_by_tracker_node.cpp b/perception/detection_by_tracker/src/detection_by_tracker_node.cpp index c22d015aa11a4..4c65500d96aaa 100644 --- a/perception/detection_by_tracker/src/detection_by_tracker_node.cpp +++ b/perception/detection_by_tracker/src/detection_by_tracker_node.cpp @@ -115,7 +115,7 @@ DetectionByTracker::DetectionByTracker(const rclcpp::NodeOptions & node_options) setMaxSearchRange(); shape_estimator_ = std::make_shared(true, true); - cluster_ = std::make_shared( + cluster_ = std::make_shared( false, 10, 10000, 0.7, 0.3, 0); debugger_ = std::make_shared(this); published_time_publisher_ = @@ -277,7 +277,7 @@ float DetectionByTracker::optimizeUnderSegmentedObject( const auto & label = target_object.classification.front().label; // initialize clustering parameters - euclidean_cluster::VoxelGridBasedEuclideanCluster cluster( + autoware::euclidean_cluster::VoxelGridBasedEuclideanCluster cluster( false, 4, 10000, initial_cluster_range, initial_voxel_size, 0); // convert to pcl diff --git a/perception/detection_by_tracker/src/detection_by_tracker_node.hpp b/perception/detection_by_tracker/src/detection_by_tracker_node.hpp index 095708fb4b51f..9c974d72cfdca 100644 --- a/perception/detection_by_tracker/src/detection_by_tracker_node.hpp +++ b/perception/detection_by_tracker/src/detection_by_tracker_node.hpp @@ -15,12 +15,12 @@ #ifndef DETECTION_BY_TRACKER_NODE_HPP_ #define DETECTION_BY_TRACKER_NODE_HPP_ +#include "autoware/euclidean_cluster/euclidean_cluster.hpp" +#include "autoware/euclidean_cluster/utils.hpp" +#include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" #include "autoware/shape_estimation/shape_estimator.hpp" #include "autoware/universe_utils/ros/published_time_publisher.hpp" #include "debugger/debugger.hpp" -#include "euclidean_cluster/euclidean_cluster.hpp" -#include "euclidean_cluster/utils.hpp" -#include "euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" #include "tracker/tracker_handler.hpp" #include "utils/utils.hpp" @@ -69,7 +69,7 @@ class DetectionByTracker : public rclcpp::Node TrackerHandler tracker_handler_; std::shared_ptr shape_estimator_; - std::shared_ptr cluster_; + std::shared_ptr cluster_; std::shared_ptr debugger_; std::map max_search_distance_for_merger_; std::map max_search_distance_for_divider_; diff --git a/perception/euclidean_cluster/CMakeLists.txt b/perception/euclidean_cluster/CMakeLists.txt index fe1fa9fda5fca..dacbcf460a14a 100644 --- a/perception/euclidean_cluster/CMakeLists.txt +++ b/perception/euclidean_cluster/CMakeLists.txt @@ -13,45 +13,45 @@ include_directories( ${PCL_INCLUDE_DIRS} ) -ament_auto_add_library(cluster_lib SHARED - lib/utils.cpp +ament_auto_add_library(${PROJECT_NAME}_lib SHARED lib/euclidean_cluster.cpp lib/voxel_grid_based_euclidean_cluster.cpp + lib/utils.cpp ) -target_link_libraries(cluster_lib +target_link_libraries(${PROJECT_NAME}_lib ${PCL_LIBRARIES} ) -target_include_directories(cluster_lib +target_include_directories(${PROJECT_NAME}_lib PUBLIC $ $ ) -ament_auto_add_library(euclidean_cluster_node_core SHARED +ament_auto_add_library(${PROJECT_NAME}_node_core SHARED src/euclidean_cluster_node.cpp ) -target_link_libraries(euclidean_cluster_node_core +target_link_libraries(${PROJECT_NAME}_node_core ${PCL_LIBRARIES} - cluster_lib + ${PROJECT_NAME}_lib ) -rclcpp_components_register_node(euclidean_cluster_node_core - PLUGIN "euclidean_cluster::EuclideanClusterNode" +rclcpp_components_register_node(${PROJECT_NAME}_node_core + PLUGIN "autoware::euclidean_cluster::EuclideanClusterNode" EXECUTABLE euclidean_cluster_node ) -ament_auto_add_library(voxel_grid_based_euclidean_cluster_node_core SHARED +ament_auto_add_library(${PROJECT_NAME}_voxel_grid_node_core SHARED src/voxel_grid_based_euclidean_cluster_node.cpp ) -target_link_libraries(voxel_grid_based_euclidean_cluster_node_core +target_link_libraries(${PROJECT_NAME}_voxel_grid_node_core ${PCL_LIBRARIES} - cluster_lib + ${PROJECT_NAME}_lib ) -rclcpp_components_register_node(voxel_grid_based_euclidean_cluster_node_core - PLUGIN "euclidean_cluster::VoxelGridBasedEuclideanClusterNode" +rclcpp_components_register_node(${PROJECT_NAME}_voxel_grid_node_core + PLUGIN "autoware::euclidean_cluster::VoxelGridBasedEuclideanClusterNode" EXECUTABLE voxel_grid_based_euclidean_cluster_node ) diff --git a/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster.hpp b/perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster.hpp similarity index 87% rename from perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster.hpp rename to perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster.hpp index aec3f56936828..8c4aad537cc43 100644 --- a/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster.hpp +++ b/perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster.hpp @@ -14,14 +14,14 @@ #pragma once -#include "euclidean_cluster/euclidean_cluster_interface.hpp" -#include "euclidean_cluster/utils.hpp" +#include "autoware/euclidean_cluster/euclidean_cluster_interface.hpp" +#include "autoware/euclidean_cluster/utils.hpp" #include #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { class EuclideanCluster : public EuclideanClusterInterface { @@ -42,4 +42,4 @@ class EuclideanCluster : public EuclideanClusterInterface float tolerance_; }; -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster diff --git a/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster_interface.hpp b/perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster_interface.hpp similarity index 95% rename from perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster_interface.hpp rename to perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster_interface.hpp index 65b907f747666..461d75d4931db 100644 --- a/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster_interface.hpp +++ b/perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster_interface.hpp @@ -24,7 +24,7 @@ #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { class EuclideanClusterInterface { @@ -54,4 +54,4 @@ class EuclideanClusterInterface int max_cluster_size_; }; -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster diff --git a/perception/euclidean_cluster/include/euclidean_cluster/utils.hpp b/perception/euclidean_cluster/include/autoware/euclidean_cluster/utils.hpp similarity index 94% rename from perception/euclidean_cluster/include/euclidean_cluster/utils.hpp rename to perception/euclidean_cluster/include/autoware/euclidean_cluster/utils.hpp index 50d2306d48f72..a52c0840c4d41 100644 --- a/perception/euclidean_cluster/include/euclidean_cluster/utils.hpp +++ b/perception/euclidean_cluster/include/autoware/euclidean_cluster/utils.hpp @@ -24,7 +24,7 @@ #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { geometry_msgs::msg::Point getCentroid(const sensor_msgs::msg::PointCloud2 & pointcloud); void convertPointCloudClusters2Msg( @@ -37,4 +37,4 @@ void convertPointCloudClusters2Msg( void convertObjectMsg2SensorMsg( const tier4_perception_msgs::msg::DetectedObjectsWithFeature & input, sensor_msgs::msg::PointCloud2 & output); -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster diff --git a/perception/euclidean_cluster/include/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp b/perception/euclidean_cluster/include/autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp similarity index 90% rename from perception/euclidean_cluster/include/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp rename to perception/euclidean_cluster/include/autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp index 375cc2d19a01f..5c51bb85ce177 100644 --- a/perception/euclidean_cluster/include/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp +++ b/perception/euclidean_cluster/include/autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp @@ -14,15 +14,15 @@ #pragma once -#include "euclidean_cluster/euclidean_cluster_interface.hpp" -#include "euclidean_cluster/utils.hpp" +#include "autoware/euclidean_cluster/euclidean_cluster_interface.hpp" +#include "autoware/euclidean_cluster/utils.hpp" #include #include #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { class VoxelGridBasedEuclideanCluster : public EuclideanClusterInterface { @@ -52,4 +52,4 @@ class VoxelGridBasedEuclideanCluster : public EuclideanClusterInterface int min_points_number_per_voxel_; }; -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py index b8d4f61a9cf28..053438a4352b0 100644 --- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py +++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py @@ -49,7 +49,7 @@ def load_composable_node_param(param_path): use_low_height_euclidean_component = ComposableNode( package=pkg, - plugin="euclidean_cluster::EuclideanClusterNode", + plugin="autoware::euclidean_cluster::EuclideanClusterNode", name=AnonName("euclidean_cluster"), remappings=[ ("input", "low_height/pointcloud"), @@ -60,7 +60,7 @@ def load_composable_node_param(param_path): disuse_low_height_euclidean_component = ComposableNode( package=pkg, - plugin="euclidean_cluster::EuclideanClusterNode", + plugin="autoware::euclidean_cluster::EuclideanClusterNode", name=AnonName("euclidean_cluster"), remappings=[ ("input", LaunchConfiguration("input_pointcloud")), diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py index 607e1bf30ccaa..0b502b1c43d67 100644 --- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py +++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py @@ -49,7 +49,7 @@ def load_composable_node_param(param_path): use_low_height_euclidean_component = ComposableNode( package=pkg, namespace=ns, - plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode", + plugin="autoware::euclidean_cluster::VoxelGridBasedEuclideanClusterNode", name="euclidean_cluster", remappings=[ ("input", "low_height/pointcloud"), @@ -61,7 +61,7 @@ def load_composable_node_param(param_path): disuse_low_height_euclidean_component = ComposableNode( package=pkg, namespace=ns, - plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode", + plugin="autoware::euclidean_cluster::VoxelGridBasedEuclideanClusterNode", name="euclidean_cluster", remappings=[ ("input", LaunchConfiguration("input_pointcloud")), diff --git a/perception/euclidean_cluster/lib/euclidean_cluster.cpp b/perception/euclidean_cluster/lib/euclidean_cluster.cpp index 5ba1b99403280..0481b7e1b742d 100644 --- a/perception/euclidean_cluster/lib/euclidean_cluster.cpp +++ b/perception/euclidean_cluster/lib/euclidean_cluster.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "euclidean_cluster/euclidean_cluster.hpp" +#include "autoware/euclidean_cluster/euclidean_cluster.hpp" #include #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { EuclideanCluster::EuclideanCluster() { @@ -93,4 +93,4 @@ bool EuclideanCluster::cluster( return true; } -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster diff --git a/perception/euclidean_cluster/lib/utils.cpp b/perception/euclidean_cluster/lib/utils.cpp index 6d119ef3d01aa..624c838ef0647 100644 --- a/perception/euclidean_cluster/lib/utils.cpp +++ b/perception/euclidean_cluster/lib/utils.cpp @@ -11,7 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#include "euclidean_cluster/utils.hpp" +#include "autoware/euclidean_cluster/utils.hpp" #include #include @@ -19,7 +19,7 @@ #include #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { geometry_msgs::msg::Point getCentroid(const sensor_msgs::msg::PointCloud2 & pointcloud) { @@ -128,4 +128,4 @@ void convertObjectMsg2SensorMsg( output.height = 1; output.is_dense = false; } -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster diff --git a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp index 126f877afddb0..096de3dc1b296 100644 --- a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp +++ b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" +#include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" #include #include #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { VoxelGridBasedEuclideanCluster::VoxelGridBasedEuclideanCluster() { @@ -166,4 +166,4 @@ bool VoxelGridBasedEuclideanCluster::cluster( return true; } -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster diff --git a/perception/euclidean_cluster/src/euclidean_cluster_node.cpp b/perception/euclidean_cluster/src/euclidean_cluster_node.cpp index f986b0334935f..b0b9448dfc0c4 100644 --- a/perception/euclidean_cluster/src/euclidean_cluster_node.cpp +++ b/perception/euclidean_cluster/src/euclidean_cluster_node.cpp @@ -14,11 +14,11 @@ #include "euclidean_cluster_node.hpp" -#include "euclidean_cluster/utils.hpp" +#include "autoware/euclidean_cluster/utils.hpp" #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { EuclideanClusterNode::EuclideanClusterNode(const rclcpp::NodeOptions & options) : Node("euclidean_cluster_node", options) @@ -86,8 +86,8 @@ void EuclideanClusterNode::onPointCloud( } } -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster #include -RCLCPP_COMPONENTS_REGISTER_NODE(euclidean_cluster::EuclideanClusterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::euclidean_cluster::EuclideanClusterNode) diff --git a/perception/euclidean_cluster/src/euclidean_cluster_node.hpp b/perception/euclidean_cluster/src/euclidean_cluster_node.hpp index 92f10696d17dc..5ab48abb4f042 100644 --- a/perception/euclidean_cluster/src/euclidean_cluster_node.hpp +++ b/perception/euclidean_cluster/src/euclidean_cluster_node.hpp @@ -14,7 +14,7 @@ #pragma once -#include "euclidean_cluster/euclidean_cluster.hpp" +#include "autoware/euclidean_cluster/euclidean_cluster.hpp" #include #include @@ -26,7 +26,8 @@ #include #include -namespace euclidean_cluster + +namespace autoware::euclidean_cluster { class EuclideanClusterNode : public rclcpp::Node { @@ -45,4 +46,4 @@ class EuclideanClusterNode : public rclcpp::Node std::unique_ptr debug_publisher_; }; -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster diff --git a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp index e9425095a3b0d..e54c55e4873ee 100644 --- a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp +++ b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp @@ -14,11 +14,11 @@ #include "voxel_grid_based_euclidean_cluster_node.hpp" -#include "euclidean_cluster/utils.hpp" +#include "autoware/euclidean_cluster/utils.hpp" #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { VoxelGridBasedEuclideanClusterNode::VoxelGridBasedEuclideanClusterNode( const rclcpp::NodeOptions & options) @@ -89,8 +89,8 @@ void VoxelGridBasedEuclideanClusterNode::onPointCloud( } } -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster #include -RCLCPP_COMPONENTS_REGISTER_NODE(euclidean_cluster::VoxelGridBasedEuclideanClusterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::euclidean_cluster::VoxelGridBasedEuclideanClusterNode) diff --git a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp index b0c5d0e5a7fbf..b48e30b37de04 100644 --- a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp +++ b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp @@ -14,7 +14,7 @@ #pragma once -#include "euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" +#include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" #include #include @@ -26,7 +26,7 @@ #include -namespace euclidean_cluster +namespace autoware::euclidean_cluster { class VoxelGridBasedEuclideanClusterNode : public rclcpp::Node { @@ -45,4 +45,4 @@ class VoxelGridBasedEuclideanClusterNode : public rclcpp::Node std::unique_ptr debug_publisher_; }; -} // namespace euclidean_cluster +} // namespace autoware::euclidean_cluster diff --git a/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp index 7f19402d9e565..904e66cb53298 100644 --- a/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp @@ -25,7 +25,7 @@ #include #endif -#include "euclidean_cluster/utils.hpp" +#include "autoware/euclidean_cluster/utils.hpp" namespace image_projection_based_fusion { @@ -68,7 +68,7 @@ void RoiPointCloudFusionNode::postprocess( // publish debug cluster if (cluster_debug_pub_->get_subscription_count() > 0) { sensor_msgs::msg::PointCloud2 debug_cluster_msg; - euclidean_cluster::convertObjectMsg2SensorMsg(output_msg, debug_cluster_msg); + autoware::euclidean_cluster::convertObjectMsg2SensorMsg(output_msg, debug_cluster_msg); cluster_debug_pub_->publish(debug_cluster_msg); } } From 93aea0b56cc53ac0be2252f309fcc4cb02cc4adc Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Tue, 9 Jul 2024 13:42:29 +0900 Subject: [PATCH 108/306] chore(radar_object_tracker): delete maintainer (#7898) Signed-off-by: scepter914 --- perception/radar_object_tracker/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/perception/radar_object_tracker/package.xml b/perception/radar_object_tracker/package.xml index 79ae0385d4b5e..f104e2d7ea456 100644 --- a/perception/radar_object_tracker/package.xml +++ b/perception/radar_object_tracker/package.xml @@ -6,7 +6,6 @@ Do tracking radar object Yoshi Ri Yukihiro Saito - Satoshi Tanaka Taekjin Lee Apache License 2.0 From 2875b51ef464f0a6a18977f35705f5f293b904ba Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 9 Jul 2024 07:45:46 +0200 Subject: [PATCH 109/306] chore(autoware_behavior_velocity_planner): remove no_prefix function from tests (#7589) Signed-off-by: Esteve Fernandez --- .../test/src/test_node_interface.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp index 3482d7be8ec48..cc2f4bf3b96b4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp @@ -54,7 +54,6 @@ std::shared_ptr generateNode() const auto velocity_smoother_dir = ament_index_cpp::get_package_share_directory("autoware_velocity_smoother"); - // TODO(esteve): delete when all the modules are migrated to autoware_behavior_velocity_* const auto get_behavior_velocity_module_config = [](const std::string & module) { const auto package_name = "autoware_behavior_velocity_" + module + "_module"; const auto package_path = ament_index_cpp::get_package_share_directory(package_name); From 6e353ae7d9afc6f9c5cf49594658478000a56eee Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 9 Jul 2024 15:02:25 +0900 Subject: [PATCH 110/306] fix(euclidean_cluster): include autoware_universe_utils headers (#7908) fix: include autoware_universe_utils headers instead of compare_map_segmentation package Signed-off-by: Taekjin LEE --- perception/euclidean_cluster/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/euclidean_cluster/package.xml b/perception/euclidean_cluster/package.xml index c5cdd9c54b988..2644786ead061 100644 --- a/perception/euclidean_cluster/package.xml +++ b/perception/euclidean_cluster/package.xml @@ -12,7 +12,7 @@ autoware_cmake autoware_perception_msgs - compare_map_segmentation + autoware_universe_utils geometry_msgs libpcl-all-dev pcl_conversions From 0e9201e070a2c5c705f5894e9b5983d33c4420e7 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 9 Jul 2024 18:46:05 +0900 Subject: [PATCH 111/306] feat(autonomous_emergency_braking): add virtual stop wall to aeb (#7894) * add virtual stop wall to aeb Signed-off-by: Daniel Sanchez * add maintainer Signed-off-by: Daniel Sanchez * add uppercase Signed-off-by: Daniel Sanchez * use motion utils function instead of shiftPose Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .github/CODEOWNERS | 2 +- .../README.md | 1 + .../autonomous_emergency_braking.param.yaml | 1 + .../autonomous_emergency_braking/node.hpp | 1 + .../autonomous_emergency_braking/utils.hpp | 2 - .../package.xml | 1 + .../src/node.cpp | 38 ++++++++++++++++++- 7 files changed, 41 insertions(+), 5 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 0fe324f84f81a..ed496d7b7ba74 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -45,7 +45,7 @@ common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomo common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp -control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp kyoichi.sugahara@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp diff --git a/control/autoware_autonomous_emergency_braking/README.md b/control/autoware_autonomous_emergency_braking/README.md index f040235f3f052..db27ca1b4f699 100644 --- a/control/autoware_autonomous_emergency_braking/README.md +++ b/control/autoware_autonomous_emergency_braking/README.md @@ -192,6 +192,7 @@ When vehicle odometry information is faulty, it is possible that the MPC fails t | Name | Unit | Type | Description | Default value | | :-------------------------------- | :----- | :----- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| publish_debug_markers | [-] | bool | flag to publish debug markers | true | | publish_debug_pointcloud | [-] | bool | flag to publish the point cloud used for debugging | false | | use_predicted_trajectory | [-] | bool | flag to use the predicted path from the control module | true | | use_imu_path | [-] | bool | flag to use the predicted path generated by sensor data | true | diff --git a/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml index 482ddc50766f8..25db9448f758b 100644 --- a/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml +++ b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml @@ -14,6 +14,7 @@ # Debug publish_debug_pointcloud: false + publish_debug_markers: true # Point cloud partitioning detection_range_min_height: 0.0 diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp index f6df46440d841..9fd6d0192439c 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp @@ -329,6 +329,7 @@ class AEB : public rclcpp::Node // member variables bool publish_debug_pointcloud_; + bool publish_debug_markers_; bool use_predicted_trajectory_; bool use_imu_path_; bool use_pointcloud_data_; diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp index 4a6bc0ce2c11f..d2ec1763ca4dd 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp @@ -33,8 +33,6 @@ #include #endif -#include - namespace autoware::motion::control::autonomous_emergency_braking::utils { using autoware::universe_utils::Polygon2d; diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml index c822adb510805..0c64b9498486a 100644 --- a/control/autoware_autonomous_emergency_braking/package.xml +++ b/control/autoware_autonomous_emergency_braking/package.xml @@ -8,6 +8,7 @@ Tomoya Kimura Mamoru Sobue Daniel Sanchez + Kyoichi Sugahara Apache License 2.0 diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index fb0fc2d043cc5..69bedd02d201b 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -14,6 +14,7 @@ #include #include +#include #include #include #include @@ -41,7 +42,9 @@ #include #include +#include #include +#include #ifdef ROS_DISTRO_GALACTIC #include #include @@ -131,6 +134,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) } // parameter publish_debug_pointcloud_ = declare_parameter("publish_debug_pointcloud"); + publish_debug_markers_ = declare_parameter("publish_debug_markers"); use_predicted_trajectory_ = declare_parameter("use_predicted_trajectory"); use_imu_path_ = declare_parameter("use_imu_path"); use_pointcloud_data_ = declare_parameter("use_pointcloud_data"); @@ -182,6 +186,7 @@ rcl_interfaces::msg::SetParametersResult AEB::onParameter( { using autoware::universe_utils::updateParam; updateParam(parameters, "publish_debug_pointcloud", publish_debug_pointcloud_); + updateParam(parameters, "publish_debug_markers", publish_debug_markers_); updateParam(parameters, "use_predicted_trajectory", use_predicted_trajectory_); updateParam(parameters, "use_imu_path", use_imu_path_); updateParam(parameters, "use_pointcloud_data", use_pointcloud_data_); @@ -378,7 +383,9 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) stat.addf("RSS", "%.2f", data.rss); stat.addf("Distance", "%.2f", data.distance_to_object); stat.addf("Object Speed", "%.2f", data.velocity); - addCollisionMarker(data, debug_markers); + if (publish_debug_markers_) { + addCollisionMarker(data, debug_markers); + } } else { const std::string error_msg = "[AEB]: No Collision"; const auto diag_level = DiagnosticStatus::OK; @@ -455,7 +462,7 @@ bool AEB::checkCollision(MarkerArray & debug_markers) }); // Add debug markers - { + if (publish_debug_markers_) { const auto [color_r, color_g, color_b, color_a] = debug_colors; addMarker( this->get_clock()->now(), path, ego_polys, objects, closest_object_point, color_r, color_g, @@ -896,6 +903,33 @@ void AEB::addCollisionMarker(const ObjectData & data, MarkerArray & debug_marker autoware::universe_utils::createMarkerColor(1.0, 0.0, 0.0, 0.3)); point_marker.pose.position = data.position; debug_markers.markers.push_back(point_marker); + + const auto ego_map_pose = std::invoke([this]() -> std::optional { + geometry_msgs::msg::TransformStamped tf_current_pose; + geometry_msgs::msg::Pose p; + try { + tf_current_pose = tf_buffer_.lookupTransform( + "map", "base_link", rclcpp::Time(0), rclcpp::Duration::from_seconds(1.0)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR(get_logger(), "%s", ex.what()); + return std::nullopt; + } + + p.orientation = tf_current_pose.transform.rotation; + p.position.x = tf_current_pose.transform.translation.x; + p.position.y = tf_current_pose.transform.translation.y; + p.position.z = tf_current_pose.transform.translation.z; + return std::make_optional(p); + }); + + if (ego_map_pose.has_value()) { + const double base_to_front_offset = vehicle_info_.max_longitudinal_offset_m; + const auto ego_front_pose = autoware::universe_utils::calcOffsetPose( + ego_map_pose.value(), base_to_front_offset, 0.0, 0.0, 0.0); + const auto virtual_stop_wall = autoware::motion_utils::createStopVirtualWallMarker( + ego_front_pose, "autonomous_emergency_braking", this->now(), 0); + autoware::universe_utils::appendMarkerArray(virtual_stop_wall, &debug_markers); + } } } // namespace autoware::motion::control::autonomous_emergency_braking From 1afa2c44335e495b92cae26fa02eeb7b29e6d4ea Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Tue, 9 Jul 2024 18:47:11 +0900 Subject: [PATCH 112/306] docs(goal_planner): update parameter description (#7889) * docs(goal_planner): update parameter description Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * style(pre-commit): autofix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> --------- Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../README.md | 27 +++++++++---------- 1 file changed, 13 insertions(+), 14 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md index 3e155aba0af2e..014aaf6db6657 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md @@ -173,20 +173,19 @@ The gray numbers represent objects to avoid, and you can see that the goal in fr ### Parameters for goal search -| Name | Unit | Type | Description | Default value | -| :------------------------------ | :--- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------- | -| goal_priority | [-] | string | In case `minimum_longitudinal_distance`, sort with smaller longitudinal distances taking precedence over smaller lateral distances. In case `minimum_weighted_distance`, sort with the sum of weighted lateral distance and longitudinal distance | `minimum_weighted_distance` | -| lateral_weight | [-] | double | Weight for lateral distance used when `minimum_weighted_distance` | 40.0 | -| prioritize_goals_before_objects | [-] | bool | If there are objects that may need to be avoided, prioritize the goal in front of them | true | -| forward_goal_search_length | [m] | double | length of forward range to be explored from the original goal | 20.0 | -| backward_goal_search_length | [m] | double | length of backward range to be explored from the original goal | 20.0 | -| goal_search_interval | [m] | double | distance interval for goal search | 2.0 | -| longitudinal_margin | [m] | double | margin between ego-vehicle at the goal position and obstacles | 3.0 | -| max_lateral_offset | [m] | double | maximum offset of goal search in the lateral direction | 0.5 | -| lateral_offset_interval | [m] | double | distance interval of goal search in the lateral direction | 0.25 | -| ignore_distance_from_lane_start | [m] | double | distance from start of pull over lanes for ignoring goal candidates | 0.0 | -| ignore_distance_from_lane_start | [m] | double | distance from start of pull over lanes for ignoring goal candidates | 0.0 | -| margin_from_boundary | [m] | double | distance margin from edge of the shoulder lane | 0.5 | +| Name | Unit | Type | Description | Default value | +| :------------------------------ | :--- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :-------------------------- | +| goal_priority | [-] | string | In case `minimum_longitudinal_distance`, sort with smaller longitudinal distances taking precedence over smaller lateral distances. In case `minimum_weighted_distance`, sort with the sum of weighted lateral distance and longitudinal distance | `minimum_weighted_distance` | +| lateral_weight | [-] | double | Weight for lateral distance used when `minimum_weighted_distance` | 40.0 | +| prioritize_goals_before_objects | [-] | bool | If there are objects that may need to be avoided, prioritize the goal in front of them | true | +| forward_goal_search_length | [m] | double | length of forward range to be explored from the original goal | 20.0 | +| backward_goal_search_length | [m] | double | length of backward range to be explored from the original goal | 20.0 | +| goal_search_interval | [m] | double | distance interval for goal search | 2.0 | +| longitudinal_margin | [m] | double | margin between ego-vehicle at the goal position and obstacles | 3.0 | +| max_lateral_offset | [m] | double | maximum offset of goal search in the lateral direction | 0.5 | +| lateral_offset_interval | [m] | double | distance interval of goal search in the lateral direction | 0.25 | +| ignore_distance_from_lane_start | [m] | double | This parameter ensures that the distance between the start of the shoulder lane and the goal is not less than the specified value. It's used to prevent setting goals too close to the beginning of the shoulder lane, which might lead to unsafe or impractical pull-over maneuvers. Increasing this value will force the system to ignore potential goal positions near the start of the shoulder lane, potentially leading to safer and more comfortable pull-over locations. | 0.0 | +| margin_from_boundary | [m] | double | distance margin from edge of the shoulder lane | 0.5 | ## **Pull Over** From 58f2bf613be52a2b63ca237c1c224b5166b2f451 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 9 Jul 2024 19:07:17 +0900 Subject: [PATCH 113/306] fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (#7902) * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength Signed-off-by: kosuke55 * Update trajectory.hpp Co-authored-by: Kyoichi Sugahara * Update trajectory.hpp Co-authored-by: Kyoichi Sugahara --------- Signed-off-by: kosuke55 Co-authored-by: Kyoichi Sugahara --- .../motion_utils/trajectory/trajectory.hpp | 49 +++++++++++++------ .../src/trajectory/trajectory.cpp | 12 ++--- .../src/shift_pull_over.cpp | 15 +++++- .../src/shift_pull_out.cpp | 13 ++++- 4 files changed, 63 insertions(+), 26 deletions(-) diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/trajectory.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/trajectory.hpp index da37d04550f5e..126e66772920a 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/trajectory.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/trajectory.hpp @@ -991,34 +991,51 @@ calcCurvature>( * curvature calculation */ template -std::vector> calcCurvatureAndArcLength(const T & points) +std::vector>> calcCurvatureAndSegmentLength( + const T & points) { - // Note that arclength is for the segment, not the sum. - std::vector> curvature_arc_length_vec; - curvature_arc_length_vec.emplace_back(0.0, 0.0); + // segment length is pair of segment length between {p1, p2} and {p2, p3} + std::vector>> curvature_and_segment_length_vec; + curvature_and_segment_length_vec.reserve(points.size()); + curvature_and_segment_length_vec.emplace_back(0.0, std::make_pair(0.0, 0.0)); for (size_t i = 1; i < points.size() - 1; ++i) { const auto p1 = autoware::universe_utils::getPoint(points.at(i - 1)); const auto p2 = autoware::universe_utils::getPoint(points.at(i)); const auto p3 = autoware::universe_utils::getPoint(points.at(i + 1)); const double curvature = autoware::universe_utils::calcCurvature(p1, p2, p3); - const double arc_length = - autoware::universe_utils::calcDistance2d(points.at(i - 1), points.at(i)) + - autoware::universe_utils::calcDistance2d(points.at(i), points.at(i + 1)); - curvature_arc_length_vec.emplace_back(curvature, arc_length); + + // The first point has only the next point, so put the distance to that point. + // In other words, assign the first segment length at the second point to the + // second_segment_length at the first point. + if (i == 1) { + curvature_and_segment_length_vec.at(0).second.second = + autoware::universe_utils::calcDistance2d(p1, p2); + } + + // The second_segment_length of the previous point and the first segment length of the current + // point are equal. + const std::pair arc_length{ + curvature_and_segment_length_vec.back().second.second, + autoware::universe_utils::calcDistance2d(p2, p3)}; + + curvature_and_segment_length_vec.emplace_back(curvature, arc_length); } - curvature_arc_length_vec.emplace_back(0.0, 0.0); - return curvature_arc_length_vec; + // set to the last point + curvature_and_segment_length_vec.emplace_back( + 0.0, std::make_pair(curvature_and_segment_length_vec.back().second.second, 0.0)); + + return curvature_and_segment_length_vec; } -extern template std::vector> -calcCurvatureAndArcLength>( +extern template std::vector>> +calcCurvatureAndSegmentLength>( const std::vector & points); -extern template std::vector> -calcCurvatureAndArcLength>( +extern template std::vector>> +calcCurvatureAndSegmentLength>( const std::vector & points); -extern template std::vector> -calcCurvatureAndArcLength>( +extern template std::vector>> +calcCurvatureAndSegmentLength>( const std::vector & points); /** diff --git a/common/autoware_motion_utils/src/trajectory/trajectory.cpp b/common/autoware_motion_utils/src/trajectory/trajectory.cpp index 5d536c0772fea..ce26952c3d634 100644 --- a/common/autoware_motion_utils/src/trajectory/trajectory.cpp +++ b/common/autoware_motion_utils/src/trajectory/trajectory.cpp @@ -238,14 +238,14 @@ calcCurvature>( const std::vector & points); // -template std::vector> -calcCurvatureAndArcLength>( +template std::vector>> +calcCurvatureAndSegmentLength>( const std::vector & points); -template std::vector> -calcCurvatureAndArcLength>( +template std::vector>> +calcCurvatureAndSegmentLength>( const std::vector & points); -template std::vector> -calcCurvatureAndArcLength>( +template std::vector>> +calcCurvatureAndSegmentLength>( const std::vector & points); // diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp index 3d2bf9500bc78..9570621f0f717 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp @@ -308,8 +308,19 @@ double ShiftPullOver::calcBeforeShiftedArcLength( double before_arc_length{0.0}; double after_arc_length{0.0}; - for (const auto & [k, segment_length] : - autoware::motion_utils::calcCurvatureAndArcLength(reversed_path.points)) { + + const auto curvature_and_segment_length = + autoware::motion_utils::calcCurvatureAndSegmentLength(reversed_path.points); + + for (size_t i = 0; i < curvature_and_segment_length.size(); ++i) { + const auto & [k, segment_length_pair] = curvature_and_segment_length[i]; + + // If it is the last point, add the lengths of the previous and next segments. + // For other points, only add the length of the previous segment. + const double segment_length = i == curvature_and_segment_length.size() - 1 + ? segment_length_pair.first + : segment_length_pair.first + segment_length_pair.second; + // after shifted segment length const double after_segment_length = k > 0 ? segment_length * (1 + k * dr) : segment_length / (1 - k * dr); diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp index 7c78f62192105..f1e0f8abb2395 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -423,8 +423,17 @@ double ShiftPullOut::calcBeforeShiftedArcLength( double before_arc_length{0.0}; double after_arc_length{0.0}; - for (const auto & [k, segment_length] : - autoware::motion_utils::calcCurvatureAndArcLength(path.points)) { + const auto curvatures_and_segment_lengths = + autoware::motion_utils::calcCurvatureAndSegmentLength(path.points); + for (size_t i = 0; i < curvatures_and_segment_lengths.size(); ++i) { + const auto & [k, segment_length_pair] = curvatures_and_segment_lengths.at(i); + + // If it is the last point, add the lengths of the previous and next segments. + // For other points, only add the length of the previous segment. + const double segment_length = i == curvatures_and_segment_lengths.size() - 1 + ? segment_length_pair.first + segment_length_pair.second + : segment_length_pair.first; + // after shifted segment length const double after_segment_length = k < 0 ? segment_length * (1 - k * dr) : segment_length / (1 + k * dr); From ce71e7fea11ea5f1334e0e3c1e63f87677421374 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 9 Jul 2024 19:55:42 +0900 Subject: [PATCH 114/306] fix(frenet_planner): fix mistake in the curvature calculation (#7920) Signed-off-by: Maxime CLEMENT --- .../lane_driving/motion_planning/motion_planning.launch.xml | 1 + .../src/frenet_planner/frenet_planner.cpp | 4 ++-- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index d0c34ea01b2c6..63353459fa16c 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -90,6 +90,7 @@ + diff --git a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp index 1f05fc93138a2..1e04db2a17eee 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp +++ b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 Tier IV, Inc. +// Copyright 2023-2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -186,7 +186,7 @@ void calculateCartesian( for (size_t i = 1; i < path.yaws.size(); ++i) { const auto dyaw = autoware::common::helper_functions::wrap_angle(path.yaws[i] - path.yaws[i - 1]); - path.curvatures.push_back(dyaw / (path.lengths[i - 1], path.lengths[i])); + path.curvatures.push_back(dyaw / (path.lengths[i] - path.lengths[i - 1])); } path.curvatures.push_back(path.curvatures.back()); } From d8d3830f11b15bd9b796b3bc53dab534450141ce Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Tue, 9 Jul 2024 21:02:02 +0900 Subject: [PATCH 115/306] fix(pointcloud_preprocessor): fix distortion corrector unit test (#7833) * fix: use pointcloud iterator instead of memcpy, remove reinterpret cast Signed-off-by: vividf * chore: set default debugging parameter to false Signed-off-by: vividf * style(pre-commit): autofix * chore: run precommit Signed-off-by: vividf * chore: fix TIER IV name Signed-off-by: vividf * chore: changed public variables to protected and add getters Signed-off-by: vividf * chore: add tolerance Signed-off-by: vividf * feat: add two tests for pure linear and rotation Signed-off-by: vividf * chore: change naming, fix tolerance value Signed-off-by: vividf * chore: add comment for quat Signed-off-by: vividf * fix: remove node_->get_clock() and use self-defined timestamp Signed-off-by: vividf * chore: remove redundant parameters Signed-off-by: vividf * chore: fix spell error and add tests in cmake Signed-off-by: vividf * chore: move all clock->now() to self-defined time Signed-off-by: vividf * chore: change function names Signed-off-by: vividf * chore: remove irrelevant variable Signed-off-by: vividf * chore: fix variables naming Signed-off-by: vividf * chore: change boolen naming: generate_points Signed-off-by: vividf * chore: add assert to make sure ms is not larger than a second Signed-off-by: vividf * chore: add note Signed-off-by: vividf * chore: add unifore initialization and semantic meaning for magic number Signed-off-by: vividf * chore: change vector to Eigen Signed-off-by: vividf * chore: fix explanation Signed-off-by: vividf * chore: fix more eigen Signed-off-by: vividf * chore: fix more magic numbers Signed-off-by: vividf * chore: add unit Signed-off-by: vividf * fix: use assert from gtest Signed-off-by: vividf --------- Signed-off-by: vividf Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa --- .../pointcloud_preprocessor/CMakeLists.txt | 4 + .../distortion_corrector.hpp | 9 + .../distortion_corrector.cpp | 29 +- .../test/test_distortion_corrector_node.cpp | 904 ++++++++++++++++++ 4 files changed, 945 insertions(+), 1 deletion(-) create mode 100644 sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt index 53b6aae55d47b..2d0649fe43954 100644 --- a/sensing/pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/pointcloud_preprocessor/CMakeLists.txt @@ -231,8 +231,12 @@ if(BUILD_TESTING) ament_add_gtest(test_utilities test/test_utilities.cpp ) + ament_add_gtest(distortion_corrector_node_tests + test/test_distortion_corrector_node.cpp + ) target_link_libraries(test_utilities pointcloud_preprocessor_filter) + target_link_libraries(distortion_corrector_node_tests pointcloud_preprocessor_filter) endif() diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp index 8a7b7c90113da..e37329a9a4cc3 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp @@ -48,6 +48,11 @@ namespace pointcloud_preprocessor class DistortionCorrectorBase { public: + virtual bool pointcloud_transform_exists() = 0; + virtual bool pointcloud_transform_needed() = 0; + virtual std::deque get_twist_queue() = 0; + virtual std::deque get_angular_velocity_queue() = 0; + virtual void processTwistMessage( const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) = 0; virtual void processIMUMessage( @@ -96,6 +101,10 @@ class DistortionCorrector : public DistortionCorrectorBase : node_(node), tf_buffer_(node_->get_clock()), tf_listener_(tf_buffer_) { } + bool pointcloud_transform_exists(); + bool pointcloud_transform_needed(); + std::deque get_twist_queue(); + std::deque get_angular_velocity_queue(); void processTwistMessage( const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) override; diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index 8c8752c7e278e..f933d4c6f75d9 100644 --- a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -20,6 +20,31 @@ namespace pointcloud_preprocessor { + +template +bool DistortionCorrector::pointcloud_transform_exists() +{ + return pointcloud_transform_exists_; +} + +template +bool DistortionCorrector::pointcloud_transform_needed() +{ + return pointcloud_transform_needed_; +} + +template +std::deque DistortionCorrector::get_twist_queue() +{ + return twist_queue_; +} + +template +std::deque DistortionCorrector::get_angular_velocity_queue() +{ + return angular_velocity_queue_; +} + template void DistortionCorrector::processTwistMessage( const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) @@ -349,7 +374,9 @@ inline void DistortionCorrector2D::undistortPointImplementation( theta_ += w * time_offset; baselink_quat_.setValue( 0, 0, autoware::universe_utils::sin(theta_ * 0.5f), - autoware::universe_utils::cos(theta_ * 0.5f)); // baselink_quat.setRPY(0.0, 0.0, theta); + autoware::universe_utils::cos( + theta_ * + 0.5f)); // baselink_quat.setRPY(0.0, 0.0, theta); (Note that the value is slightly different) const float dis = v * time_offset; x_ += dis * autoware::universe_utils::cos(theta_); y_ += dis * autoware::universe_utils::sin(theta_); diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp new file mode 100644 index 0000000000000..7997aaf43c202 --- /dev/null +++ b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -0,0 +1,904 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// Note: To regenerate the ground truth (GT) for the expected undistorted point cloud values, +// set the "debug_" value to true to display the point cloud values. Then, +// replace the expected values with the newly displayed undistorted point cloud values. +// +// Also, make sure the point stamp, twist stamp, and imu stamp are not identical. +// In the current hardcoded design, timestamp of pointcloud, twist, and imu msg are listed below +// pointcloud (1 msgs, 10points): +// 10.10, 10.11, 10.12, 10.13, 10.14, 10.15, 10.16, 10.17, 10.18, 10.19 +// twist (6msgs): +// 10.095, 10.119, 10.143, 10.167, 10.191, 10.215 +// imu (6msgs): +// 10.09, 10.117, 10.144, 10.171, 10.198, 10.225 + +#include "autoware/universe_utils/math/trigonometry.hpp" +#include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" + +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include + +class DistortionCorrectorTest : public ::testing::Test +{ +protected: + void SetUp() override + { + node_ = std::make_shared("test_node"); + distortion_corrector_2d_ = + std::make_shared(node_.get()); + distortion_corrector_3d_ = + std::make_shared(node_.get()); + + // Setup TF + tf_broadcaster_ = std::make_shared(node_); + tf_broadcaster_->sendTransform(generateStaticTransformMsg()); + + // Spin the node for a while to ensure transforms are published + auto start = std::chrono::steady_clock::now(); + auto timeout = std::chrono::seconds(1); + while (std::chrono::steady_clock::now() - start < timeout) { + rclcpp::spin_some(node_); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + } + + void TearDown() override {} + + void checkInput(int ms) { ASSERT_LT(ms, 1000) << "ms should be less than a second."; } + + rclcpp::Time addMilliseconds(rclcpp::Time stamp, int ms) + { + checkInput(ms); + auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); + return stamp + ms_in_ns; + } + + rclcpp::Time subtractMilliseconds(rclcpp::Time stamp, int ms) + { + checkInput(ms); + auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); + return stamp - ms_in_ns; + } + + geometry_msgs::msg::TransformStamped generateTransformMsg( + const std::string & parent_frame, const std::string & child_frame, double x, double y, double z, + double qx, double qy, double qz, double qw) + { + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + geometry_msgs::msg::TransformStamped tf_msg; + tf_msg.header.stamp = timestamp; + tf_msg.header.frame_id = parent_frame; + tf_msg.child_frame_id = child_frame; + tf_msg.transform.translation.x = x; + tf_msg.transform.translation.y = y; + tf_msg.transform.translation.z = z; + tf_msg.transform.rotation.x = qx; + tf_msg.transform.rotation.y = qy; + tf_msg.transform.rotation.z = qz; + tf_msg.transform.rotation.w = qw; + return tf_msg; + } + + std::vector generateStaticTransformMsg() + { + // generate defined transformations + return { + generateTransformMsg("base_link", "lidar_top", 5.0, 5.0, 5.0, 0.683, 0.5, 0.183, 0.499), + generateTransformMsg("base_link", "imu_link", 1.0, 1.0, 3.0, 0.278, 0.717, 0.441, 0.453)}; + } + + std::shared_ptr generateTwistMsg( + double linear_x, double angular_z, rclcpp::Time stamp) + { + auto twist_msg = std::make_shared(); + twist_msg->header.stamp = stamp; + twist_msg->header.frame_id = "base_link"; + twist_msg->twist.twist.linear.x = linear_x; + twist_msg->twist.twist.angular.z = angular_z; + return twist_msg; + } + + std::shared_ptr generateImuMsg( + double angular_vel_x, double angular_vel_y, double angular_vel_z, rclcpp::Time stamp) + { + auto imu_msg = std::make_shared(); + imu_msg->header.stamp = stamp; + imu_msg->header.frame_id = "imu_link"; + imu_msg->angular_velocity.x = angular_vel_x; + imu_msg->angular_velocity.y = angular_vel_y; + imu_msg->angular_velocity.z = angular_vel_z; + return imu_msg; + } + + std::vector> generateTwistMsgs( + rclcpp::Time pointcloud_timestamp) + { + std::vector> twist_msgs; + rclcpp::Time twist_stamp = subtractMilliseconds(pointcloud_timestamp, 5); + + for (int i = 0; i < number_of_twist_msgs_; ++i) { + auto twist_msg = generateTwistMsg( + twist_linear_x_ + i * twist_linear_x_increment_, + twist_angular_z_ + i * twist_angular_z_increment_, twist_stamp); + twist_msgs.push_back(twist_msg); + + twist_stamp = addMilliseconds(twist_stamp, twist_msgs_interval_ms_); + } + + return twist_msgs; + } + + std::vector> generateImuMsgs( + rclcpp::Time pointcloud_timestamp) + { + std::vector> imu_msgs; + rclcpp::Time imu_stamp = subtractMilliseconds(pointcloud_timestamp, 10); + + for (int i = 0; i < number_of_imu_msgs_; ++i) { + auto imu_msg = generateImuMsg( + imu_angular_x_ + i * imu_angular_x_increment_, + imu_angular_y_ + i * imu_angular_y_increment_, + imu_angular_z_ + i * imu_angular_z_increment_, imu_stamp); + imu_msgs.push_back(imu_msg); + imu_stamp = addMilliseconds(imu_stamp, imu_msgs_interval_ms_); + } + + return imu_msgs; + } + + sensor_msgs::msg::PointCloud2 generatePointCloudMsg( + bool generate_points, bool is_lidar_frame, rclcpp::Time stamp) + { + sensor_msgs::msg::PointCloud2 pointcloud_msg; + pointcloud_msg.header.stamp = stamp; + pointcloud_msg.header.frame_id = is_lidar_frame ? "lidar_top" : "base_link"; + pointcloud_msg.height = 1; + pointcloud_msg.is_dense = true; + pointcloud_msg.is_bigendian = false; + + if (generate_points) { + std::array points = {{ + Eigen::Vector3f(10.0f, 0.0f, 0.0f), // point 1 + Eigen::Vector3f(0.0f, 10.0f, 0.0f), // point 2 + Eigen::Vector3f(0.0f, 0.0f, 10.0f), // point 3 + Eigen::Vector3f(20.0f, 0.0f, 0.0f), // point 4 + Eigen::Vector3f(0.0f, 20.0f, 0.0f), // point 5 + Eigen::Vector3f(0.0f, 0.0f, 20.0f), // point 6 + Eigen::Vector3f(30.0f, 0.0f, 0.0f), // point 7 + Eigen::Vector3f(0.0f, 30.0f, 0.0f), // point 8 + Eigen::Vector3f(0.0f, 0.0f, 30.0f), // point 9 + Eigen::Vector3f(10.0f, 10.0f, 10.0f) // point 10 + }}; + + // Generate timestamps for the points + std::vector timestamps = generatePointTimestamps(stamp, number_of_points_); + + sensor_msgs::PointCloud2Modifier modifier(pointcloud_msg); + modifier.setPointCloud2Fields( + 4, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1, + sensor_msgs::msg::PointField::FLOAT32, "z", 1, sensor_msgs::msg::PointField::FLOAT32, + "time_stamp", 1, sensor_msgs::msg::PointField::FLOAT64); + modifier.resize(number_of_points_); + + sensor_msgs::PointCloud2Iterator iter_x(pointcloud_msg, "x"); + sensor_msgs::PointCloud2Iterator iter_y(pointcloud_msg, "y"); + sensor_msgs::PointCloud2Iterator iter_z(pointcloud_msg, "z"); + sensor_msgs::PointCloud2Iterator iter_t(pointcloud_msg, "time_stamp"); + + for (size_t i = 0; i < number_of_points_; ++i) { + *iter_x = points[i].x(); + *iter_y = points[i].y(); + *iter_z = points[i].z(); + *iter_t = timestamps[i]; + ++iter_x; + ++iter_y; + ++iter_z; + ++iter_t; + } + } else { + pointcloud_msg.width = 0; + pointcloud_msg.row_step = 0; + } + + return pointcloud_msg; + } + + std::vector generatePointTimestamps( + rclcpp::Time pointcloud_timestamp, size_t number_of_points) + { + std::vector timestamps; + rclcpp::Time point_stamp = pointcloud_timestamp; + for (size_t i = 0; i < number_of_points; ++i) { + double timestamp = point_stamp.seconds(); + timestamps.push_back(timestamp); + point_stamp = addMilliseconds(point_stamp, points_interval_ms_); + } + + return timestamps; + } + + std::shared_ptr node_; + std::shared_ptr distortion_corrector_2d_; + std::shared_ptr distortion_corrector_3d_; + std::shared_ptr tf_broadcaster_; + + static constexpr float standard_tolerance_{1e-4}; + static constexpr float coarse_tolerance_{5e-3}; + static constexpr int number_of_twist_msgs_{6}; + static constexpr int number_of_imu_msgs_{6}; + static constexpr size_t number_of_points_{10}; + static constexpr int32_t timestamp_seconds_{10}; + static constexpr uint32_t timestamp_nanoseconds_{100000000}; + + static constexpr double twist_linear_x_{10.0}; + static constexpr double twist_angular_z_{0.02}; + static constexpr double twist_linear_x_increment_{2.0}; + static constexpr double twist_angular_z_increment_{0.01}; + + static constexpr double imu_angular_x_{0.01}; + static constexpr double imu_angular_y_{-0.02}; + static constexpr double imu_angular_z_{0.05}; + static constexpr double imu_angular_x_increment_{0.005}; + static constexpr double imu_angular_y_increment_{0.005}; + static constexpr double imu_angular_z_increment_{0.005}; + + static constexpr int points_interval_ms_{10}; + static constexpr int twist_msgs_interval_ms_{24}; + static constexpr int imu_msgs_interval_ms_{27}; + + // for debugging or regenerating the ground truth point cloud + bool debug_{false}; +}; + +TEST_F(DistortionCorrectorTest, TestProcessTwistMessage) +{ + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + auto twist_msg = generateTwistMsg(twist_linear_x_, twist_angular_z_, timestamp); + distortion_corrector_2d_->processTwistMessage(twist_msg); + + ASSERT_FALSE(distortion_corrector_2d_->get_twist_queue().empty()); + EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.linear.x, twist_linear_x_); + EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.angular.z, twist_angular_z_); +} + +TEST_F(DistortionCorrectorTest, TestProcessIMUMessage) +{ + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + auto imu_msg = generateImuMsg(imu_angular_x_, imu_angular_y_, imu_angular_z_, timestamp); + distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); + + ASSERT_FALSE(distortion_corrector_2d_->get_angular_velocity_queue().empty()); + EXPECT_NEAR( + distortion_corrector_2d_->get_angular_velocity_queue().front().vector.z, -0.03159, + standard_tolerance_); +} + +TEST_F(DistortionCorrectorTest, TestIsInputValid) +{ + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + + // input normal pointcloud without twist + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + bool result = distortion_corrector_2d_->isInputValid(pointcloud); + EXPECT_FALSE(result); + + // input normal pointcloud with valid twist + auto twist_msg = generateTwistMsg(twist_linear_x_, twist_angular_z_, timestamp); + distortion_corrector_2d_->processTwistMessage(twist_msg); + + pointcloud = generatePointCloudMsg(true, false, timestamp); + result = distortion_corrector_2d_->isInputValid(pointcloud); + EXPECT_TRUE(result); + + // input empty pointcloud + pointcloud = generatePointCloudMsg(false, false, timestamp); + result = distortion_corrector_2d_->isInputValid(pointcloud); + EXPECT_FALSE(result); +} + +TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithBaseLink) +{ + distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists()); + EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed()); +} + +TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithLidarFrame) +{ + distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); + EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists()); + EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_needed()); +} + +TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithMissingFrame) +{ + distortion_corrector_2d_->setPointCloudTransform("base_link", "missing_lidar_frame"); + EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_exists()); + EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed()); +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyTwist) +{ + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + // Generate the point cloud message + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Process empty twist queue + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->undistortPointCloud(false, pointcloud); + + // Verify the point cloud is not changed + sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(pointcloud, "z"); + + std::array expected_pointcloud = { + {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0f, 10.0f, 0.0f), + Eigen::Vector3f(0.0f, 0.0f, 10.0f), Eigen::Vector3f(20.0f, 0.0f, 0.0f), + Eigen::Vector3f(0.0f, 20.0f, 0.0f), Eigen::Vector3f(0.0f, 0.0f, 20.0f), + Eigen::Vector3f(30.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0f, 30.0f, 0.0f), + Eigen::Vector3f(0.0f, 0.0f, 30.0f), Eigen::Vector3f(10.0f, 10.0f, 10.0f)}}; + + size_t i = 0; + std::ostringstream oss; + oss << "Expected pointcloud:\n"; + + for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { + oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyPointCloud) +{ + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_2d_->processTwistMessage(twist_msg); + } + // Generate an empty point cloud message + sensor_msgs::msg::PointCloud2 empty_pointcloud = generatePointCloudMsg(false, false, timestamp); + + // Process empty point cloud + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->undistortPointCloud(true, empty_pointcloud); + + // Verify the point cloud is still empty + EXPECT_EQ(empty_pointcloud.width, 0); + EXPECT_EQ(empty_pointcloud.row_step, 0); +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) +{ + // Generate the point cloud message + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_2d_->processTwistMessage(twist_msg); + } + + // Test using only twist + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_2d_->undistortPointCloud(false, pointcloud); + + sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(pointcloud, "z"); + + // Expected undistorted point cloud values + std::array expected_pointcloud = { + {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.117124f, 10.0f, 0.0f), + Eigen::Vector3f(0.26f, 0.000135182f, 10.0f), Eigen::Vector3f(20.4f, 0.0213818f, 0.0f), + Eigen::Vector3f(0.50932f, 20.0005f, 0.0f), Eigen::Vector3f(0.699999f, 0.000819721f, 20.0f), + Eigen::Vector3f(30.8599f, 0.076f, 0.0f), Eigen::Vector3f(0.947959f, 30.0016f, 0.0f), + Eigen::Vector3f(1.22f, 0.00244382f, 30.0f), Eigen::Vector3f(11.3568f, 10.0463f, 10.0f)}}; + + // Verify each point in the undistorted point cloud + size_t i = 0; + std::ostringstream oss; + oss << "Expected pointcloud:\n"; + + for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { + oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) +{ + // Generate the point cloud message + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_2d_->processTwistMessage(twist_msg); + } + + // Generate and process multiple IMU messages + auto imu_msgs = generateImuMsgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); + } + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_2d_->undistortPointCloud(true, pointcloud); + + sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(pointcloud, "z"); + + // Expected undistorted point cloud values + std::array expected_pointcloud = { + {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.122876f, 9.99996f, 0.0f), + Eigen::Vector3f(0.26f, -0.000115049f, 10.0f), Eigen::Vector3f(20.4f, -0.0174931f, 0.0f), + Eigen::Vector3f(0.56301f, 19.9996f, 0.0f), Eigen::Vector3f(0.7f, -0.000627014f, 20.0f), + Eigen::Vector3f(30.86f, -0.052675f, 0.0f), Eigen::Vector3f(1.1004f, 29.9987f, 0.0f), + Eigen::Vector3f(1.22f, -0.00166245f, 30.0f), Eigen::Vector3f(11.4249f, 9.97293f, 10.0f)}}; + + // Verify each point in the undistorted point cloud + size_t i = 0; + std::ostringstream oss; + oss << "Expected pointcloud:\n"; + + for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { + oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) +{ + // Generate the point cloud message + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_2d_->processTwistMessage(twist_msg); + } + + // Generate and process multiple IMU messages + auto imu_msgs = generateImuMsgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); + } + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); + distortion_corrector_2d_->undistortPointCloud(true, pointcloud); + + sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(pointcloud, "z"); + + // Expected undistorted point cloud values + std::array expected_pointcloud = { + {Eigen::Vector3f(10.0f, -1.77636e-15f, -4.44089e-16f), + Eigen::Vector3f(0.049989f, 10.0608f, 0.0924992f), + Eigen::Vector3f(0.106107f, 0.130237f, 10.1986f), + Eigen::Vector3f(20.1709f, 0.210011f, 0.32034f), + Eigen::Vector3f(0.220674f, 20.2734f, 0.417974f), + Eigen::Vector3f(0.274146f, 0.347043f, 20.5341f), + Eigen::Vector3f(30.3673f, 0.457564f, 0.700818f), + Eigen::Vector3f(0.418014f, 30.5259f, 0.807963f), + Eigen::Vector3f(0.464088f, 0.600081f, 30.9292f), + Eigen::Vector3f(10.5657f, 10.7121f, 11.094f)}}; + + // Verify each point in the undistorted point cloud + size_t i = 0; + std::ostringstream oss; + oss << "Expected pointcloud:\n"; + + for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { + oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) +{ + // Generate the point cloud message + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_3d_->processTwistMessage(twist_msg); + } + + // Test using only twist + distortion_corrector_3d_->initialize(); + distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_3d_->undistortPointCloud(false, pointcloud); + + sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(pointcloud, "z"); + + // Expected undistorted point cloud values + std::array expected_pointcloud = { + {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.117f, 10.0f, 0.0f), + Eigen::Vector3f(0.26f, 9.27035e-05f, 10.0f), Eigen::Vector3f(20.4f, 0.0222176f, 0.0f), + Eigen::Vector3f(0.51f, 20.0004f, 0.0f), Eigen::Vector3f(0.7f, 0.000706573f, 20.0f), + Eigen::Vector3f(30.8599f, 0.0760946f, 0.0f), Eigen::Vector3f(0.946998f, 30.0015f, 0.0f), + Eigen::Vector3f(1.22f, 0.00234201f, 30.0f), Eigen::Vector3f(11.3569f, 10.046f, 10.0f)}}; + + // Verify each point in the undistorted point cloud + size_t i = 0; + std::ostringstream oss; + oss << "Expected pointcloud:\n"; + + for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { + oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) +{ + // Generate the point cloud message + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_3d_->processTwistMessage(twist_msg); + } + + // Generate and process multiple IMU messages + auto imu_msgs = generateImuMsgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); + } + + distortion_corrector_3d_->initialize(); + distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_3d_->undistortPointCloud(true, pointcloud); + + sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(pointcloud, "z"); + + // Expected undistorted point cloud values + std::array expected_pointcloud = { + {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.123015f, 9.99998f, 0.00430552f), + Eigen::Vector3f(0.266103f, -0.00895269f, 9.99992f), + Eigen::Vector3f(20.4f, -0.0176539f, -0.0193392f), + Eigen::Vector3f(0.563265f, 19.9997f, 0.035628f), + Eigen::Vector3f(0.734597f, -0.046068f, 19.9993f), + Eigen::Vector3f(30.8599f, -0.0517931f, -0.0658165f), + Eigen::Vector3f(1.0995f, 29.9989f, 0.0956997f), + Eigen::Vector3f(1.31283f, -0.113544f, 29.9977f), + Eigen::Vector3f(11.461f, 9.93096f, 10.0035f)}}; + + // Verify each point in the undistorted point cloud + size_t i = 0; + std::ostringstream oss; + oss << "Expected pointcloud:\n"; + + for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { + oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) +{ + // Generate the point cloud message + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); + + // Generate and process multiple twist messages + auto twist_msgs = generateTwistMsgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector_3d_->processTwistMessage(twist_msg); + } + + // Generate and process multiple IMU messages + auto imu_msgs = generateImuMsgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); + } + + distortion_corrector_3d_->initialize(); + distortion_corrector_3d_->setPointCloudTransform("base_link", "lidar_top"); + distortion_corrector_3d_->undistortPointCloud(true, pointcloud); + + sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(pointcloud, "z"); + + // Expected undistorted point cloud values + std::array expected_pointcloud = { + {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.046484f, 10.0622f, 0.098484f), + Eigen::Vector3f(0.107595f, 0.123767f, 10.2026f), + Eigen::Vector3f(20.1667f, 0.22465f, 0.313351f), + Eigen::Vector3f(0.201149f, 20.2784f, 0.464665f), + Eigen::Vector3f(0.290531f, 0.303489f, 20.5452f), + Eigen::Vector3f(30.3598f, 0.494116f, 0.672914f), + Eigen::Vector3f(0.375848f, 30.5336f, 0.933633f), + Eigen::Vector3f(0.510001f, 0.479651f, 30.9493f), + Eigen::Vector3f(10.5629f, 10.6855f, 11.1461f)}}; + + // Verify each point in the undistorted point cloud + size_t i = 0; + std::ostringstream oss; + oss << "Expected pointcloud:\n"; + + for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { + oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureLinearMotion) +{ + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + sensor_msgs::msg::PointCloud2 test2d_pointcloud = generatePointCloudMsg(true, false, timestamp); + sensor_msgs::msg::PointCloud2 test3d_pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process a single twist message with constant linear velocity + auto twist_msg = generateTwistMsg(1.0, 0.0, timestamp); + + distortion_corrector_2d_->processTwistMessage(twist_msg); + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_2d_->undistortPointCloud(false, test2d_pointcloud); + + distortion_corrector_3d_->processTwistMessage(twist_msg); + distortion_corrector_3d_->initialize(); + distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_3d_->undistortPointCloud(false, test3d_pointcloud); + + // Generate expected point cloud for testing + sensor_msgs::msg::PointCloud2 expected_pointcloud_msg = + generatePointCloudMsg(true, false, timestamp); + + // Calculate expected point cloud values based on constant linear motion + double velocity = 1.0; // 1 m/s linear velocity + sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud_msg, "x"); + sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud_msg, "y"); + sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud_msg, "z"); + sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); + + std::vector expected_points; + for (; iter_t != iter_t.end(); ++iter_t, ++iter_x, ++iter_y, ++iter_z) { + double time_offset = *iter_t - timestamp.seconds(); + expected_points.emplace_back( + *iter_x + static_cast(velocity * time_offset), *iter_y, *iter_z); + } + + // Verify each point in the undistorted point cloud + sensor_msgs::PointCloud2Iterator test2d_iter_x(test2d_pointcloud, "x"); + sensor_msgs::PointCloud2Iterator test2d_iter_y(test2d_pointcloud, "y"); + sensor_msgs::PointCloud2Iterator test2d_iter_z(test2d_pointcloud, "z"); + size_t i = 0; + std::ostringstream oss; + oss << "Expected pointcloud:\n"; + + for (; test2d_iter_x != test2d_iter_x.end(); + ++test2d_iter_x, ++test2d_iter_y, ++test2d_iter_z, ++i) { + oss << "Point " << i << ": (" << *test2d_iter_x << ", " << *test2d_iter_y << ", " + << *test2d_iter_z << ")\n"; + EXPECT_FLOAT_EQ(*test2d_iter_x, expected_points[i].x()); + EXPECT_FLOAT_EQ(*test2d_iter_y, expected_points[i].y()); + EXPECT_FLOAT_EQ(*test2d_iter_z, expected_points[i].z()); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } + + // Verify each point in the undistorted 2d point cloud with undistorted 3d point cloud + test2d_iter_x = sensor_msgs::PointCloud2Iterator(test2d_pointcloud, "x"); + test2d_iter_y = sensor_msgs::PointCloud2Iterator(test2d_pointcloud, "y"); + test2d_iter_z = sensor_msgs::PointCloud2Iterator(test2d_pointcloud, "z"); + sensor_msgs::PointCloud2Iterator test3d_iter_x(test3d_pointcloud, "x"); + sensor_msgs::PointCloud2Iterator test3d_iter_y(test3d_pointcloud, "y"); + sensor_msgs::PointCloud2Iterator test3d_iter_z(test3d_pointcloud, "z"); + + i = 0; + oss.str(""); + oss.clear(); + + oss << "Expected pointcloud:\n"; + for (; test2d_iter_x != test2d_iter_x.end(); ++test2d_iter_x, ++test2d_iter_y, ++test2d_iter_z, + ++test3d_iter_x, ++test3d_iter_y, ++test3d_iter_z, + ++i) { + oss << "Point " << i << " - 2D: (" << *test2d_iter_x << ", " << *test2d_iter_y << ", " + << *test2d_iter_z << ")" + << " vs 3D: (" << *test3d_iter_x << ", " << *test3d_iter_y << ", " << *test3d_iter_z + << ")\n"; + EXPECT_FLOAT_EQ(*test2d_iter_x, *test3d_iter_x); + EXPECT_FLOAT_EQ(*test2d_iter_y, *test3d_iter_y); + EXPECT_FLOAT_EQ(*test2d_iter_z, *test3d_iter_z); + } + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) +{ + rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + sensor_msgs::msg::PointCloud2 test2d_pointcloud = generatePointCloudMsg(true, false, timestamp); + sensor_msgs::msg::PointCloud2 test3d_pointcloud = generatePointCloudMsg(true, false, timestamp); + + // Generate and process a single twist message with constant angular velocity + auto twist_msg = generateTwistMsg(0.0, 0.1, timestamp); + + distortion_corrector_2d_->processTwistMessage(twist_msg); + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_2d_->undistortPointCloud(false, test2d_pointcloud); + + distortion_corrector_3d_->processTwistMessage(twist_msg); + distortion_corrector_3d_->initialize(); + distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_3d_->undistortPointCloud(false, test3d_pointcloud); + + // Generate expected point cloud for testing + sensor_msgs::msg::PointCloud2 expected_pointcloud_msg = + generatePointCloudMsg(true, false, timestamp); + + // Calculate expected point cloud values based on constant rotational motion + double angular_velocity = 0.1; // 0.1 rad/s rotational velocity + sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud_msg, "x"); + sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud_msg, "y"); + sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud_msg, "z"); + sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); + + std::vector expected_pointcloud; + for (; iter_t != iter_t.end(); ++iter_t, ++iter_x, ++iter_y, ++iter_z) { + double time_offset = *iter_t - timestamp.seconds(); + float angle = angular_velocity * time_offset; + + // Set the quaternion for the current angle + tf2::Quaternion quaternion; + quaternion.setValue( + 0, 0, autoware::universe_utils::sin(angle * 0.5f), + autoware::universe_utils::cos(angle * 0.5f)); + + tf2::Vector3 point(*iter_x, *iter_y, *iter_z); + tf2::Vector3 rotated_point = tf2::quatRotate(quaternion, point); + expected_pointcloud.emplace_back( + static_cast(rotated_point.x()), static_cast(rotated_point.y()), + static_cast(rotated_point.z())); + } + + // Verify each point in the undistorted 2D point cloud + sensor_msgs::PointCloud2Iterator test2d_iter_x(test2d_pointcloud, "x"); + sensor_msgs::PointCloud2Iterator test2d_iter_y(test2d_pointcloud, "y"); + sensor_msgs::PointCloud2Iterator test2d_iter_z(test2d_pointcloud, "z"); + + size_t i = 0; + std::ostringstream oss; + oss << "Expected pointcloud:\n"; + + for (; test2d_iter_x != test2d_iter_x.end(); + ++test2d_iter_x, ++test2d_iter_y, ++test2d_iter_z, ++i) { + oss << "Point " << i << ": (" << *test2d_iter_x << ", " << *test2d_iter_y << ", " + << *test2d_iter_z << ")\n"; + EXPECT_FLOAT_EQ(*test2d_iter_x, expected_pointcloud[i].x()); + EXPECT_FLOAT_EQ(*test2d_iter_y, expected_pointcloud[i].y()); + EXPECT_FLOAT_EQ(*test2d_iter_z, expected_pointcloud[i].z()); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } + + // Verify each point in the undistorted 2D point cloud with undistorted 3D point cloud + test2d_iter_x = sensor_msgs::PointCloud2Iterator(test2d_pointcloud, "x"); + test2d_iter_y = sensor_msgs::PointCloud2Iterator(test2d_pointcloud, "y"); + test2d_iter_z = sensor_msgs::PointCloud2Iterator(test2d_pointcloud, "z"); + sensor_msgs::PointCloud2Iterator test3d_iter_x(test3d_pointcloud, "x"); + sensor_msgs::PointCloud2Iterator test3d_iter_y(test3d_pointcloud, "y"); + sensor_msgs::PointCloud2Iterator test3d_iter_z(test3d_pointcloud, "z"); + + i = 0; + oss.str(""); + oss.clear(); + + oss << "Expected pointcloud:\n"; + for (; test2d_iter_x != test2d_iter_x.end(); ++test2d_iter_x, ++test2d_iter_y, ++test2d_iter_z, + ++test3d_iter_x, ++test3d_iter_y, ++test3d_iter_z, + ++i) { + oss << "Point " << i << " - 2D: (" << *test2d_iter_x << ", " << *test2d_iter_y << ", " + << *test2d_iter_z << ")" + << " vs 3D: (" << *test3d_iter_x << ", " << *test3d_iter_y << ", " << *test3d_iter_z + << ")\n"; + EXPECT_NEAR(*test2d_iter_x, *test3d_iter_x, coarse_tolerance_); + EXPECT_NEAR(*test2d_iter_y, *test3d_iter_y, coarse_tolerance_); + EXPECT_NEAR(*test2d_iter_z, *test3d_iter_z, coarse_tolerance_); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + int ret = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return ret; +} From 23cf5154304633da3bf945cf0081fa6ce6ec9eb0 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Tue, 9 Jul 2024 22:17:40 +0900 Subject: [PATCH 116/306] feat: migrating pointcloud types (#6996) * feat: changed most of sensing to the new type Signed-off-by: Kenzo Lobos-Tsunekawa * chore: started applying changes to the perception stack Signed-off-by: Kenzo Lobos-Tsunekawa * feat: confirmed operation until centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa * feat: reverted to the original implementation of pointpainting Signed-off-by: Kenzo Lobos-Tsunekawa * chore: forgot to push a header Signed-off-by: Kenzo Lobos-Tsunekawa * feat: also implemented the changes for the subsample filters that were out of scope before Signed-off-by: Kenzo Lobos-Tsunekawa * fix: some point type changes were missing from the latest merge from main Signed-off-by: Kenzo Lobos-Tsunekawa * chore: removed unused code, added comments, and brought back a removed publish Signed-off-by: Kenzo Lobos-Tsunekawa * chore: replaced pointcloud_raw for pointcloud_raw_ex to avoid extra processing time in the drivers Signed-off-by: Kenzo Lobos-Tsunekawa * feat: added memory layout checks Signed-off-by: Kenzo Lobos-Tsunekawa * chore: updated documentation regarding the point types Signed-off-by: Kenzo Lobos-Tsunekawa * chore: added hyperlinks to the point definitions. will be valid only once the PR is merged Signed-off-by: Kenzo Lobos-Tsunekawa * fix: fixed compilation due to moving the utilities files to the base library Signed-off-by: Kenzo Lobos-Tsunekawa * chore: separated the utilities functions due to a dependency issue * chore: forgot that perception also uses the filter class Signed-off-by: Kenzo Lobos-Tsunekawa * feature: adapted the undistortion tests to the new point type Signed-off-by: Kenzo Lobos-Tsunekawa --------- Signed-off-by: Kenzo Lobos-Tsunekawa Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> --- .../include/autoware_point_types/types.hpp | 91 +++++++- .../test/test_point_types.cpp | 9 + .../traffic_light.launch.xml | 2 +- .../src/scan_ground_filter/node.cpp | 4 +- .../src/scan_ground_filter/node.hpp | 1 + .../src/pointpainting_fusion/node.cpp | 6 +- .../src/detector.cpp | 24 +- .../src/lidar_apollo_segmentation_tvm.cpp | 26 ++- .../src/low_intensity_cluster_filter_node.cpp | 6 +- .../pointcloud_preprocessor/CMakeLists.txt | 14 +- .../docs/dual-return-outlier-filter.md | 4 +- .../docs/ring-outlier-filter.md | 11 +- .../concatenate_and_time_sync_nodelet.hpp | 4 +- .../concatenate_pointclouds.hpp | 4 +- .../faster_voxel_grid_downsample_filter.hpp | 4 +- .../ring_outlier_filter_nodelet.hpp | 14 +- .../polygon_remover/polygon_remover.hpp | 2 +- .../time_synchronizer_nodelet.hpp | 4 +- .../utility/{utilities.hpp => geometry.hpp} | 16 +- .../utility/memory.hpp | 40 ++++ .../vector_map_inside_area_filter.hpp | 4 +- .../blockage_diag/blockage_diag_nodelet.cpp | 10 +- .../concatenate_and_time_sync_nodelet.cpp | 63 ++++-- .../concatenate_pointclouds.cpp | 62 +++-- .../distortion_corrector.cpp | 43 +++- .../faster_voxel_grid_downsample_filter.cpp | 27 ++- .../voxel_grid_downsample_filter_nodelet.cpp | 2 +- .../pointcloud_preprocessor/src/filter.cpp | 26 +++ .../dual_return_outlier_filter_nodelet.cpp | 34 +-- .../ring_outlier_filter_nodelet.cpp | 149 ++++++------- .../time_synchronizer_nodelet.cpp | 47 ++-- .../utility/{utilities.cpp => geometry.cpp} | 93 +------- .../src/utility/memory.cpp | 211 ++++++++++++++++++ .../test/test_distortion_corrector_node.cpp | 35 +-- .../test/test_utilities.cpp | 4 +- 35 files changed, 767 insertions(+), 329 deletions(-) rename sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/{utilities.hpp => geometry.hpp} (78%) create mode 100644 sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp rename sensing/pointcloud_preprocessor/src/utility/{utilities.cpp => geometry.cpp} (52%) create mode 100644 sensing/pointcloud_preprocessor/src/utility/memory.cpp diff --git a/common/autoware_point_types/include/autoware_point_types/types.hpp b/common/autoware_point_types/include/autoware_point_types/types.hpp index 71ea80c5a9733..a3b0670280530 100644 --- a/common/autoware_point_types/include/autoware_point_types/types.hpp +++ b/common/autoware_point_types/include/autoware_point_types/types.hpp @@ -54,6 +54,23 @@ enum ReturnType : uint8_t { DUAL_ONLY, }; +struct PointXYZIRC +{ + float x{0.0F}; + float y{0.0F}; + float z{0.0F}; + std::uint8_t intensity{0U}; + std::uint8_t return_type{0U}; + std::uint16_t channel{0U}; + + friend bool operator==(const PointXYZIRC & p1, const PointXYZIRC & p2) noexcept + { + return float_eq(p1.x, p2.x) && float_eq(p1.y, p2.y) && + float_eq(p1.z, p2.z) && p1.intensity == p2.intensity && + p1.return_type == p2.return_type && p1.channel == p2.channel; + } +}; + struct PointXYZIRADRT { float x{0.0F}; @@ -75,25 +92,97 @@ struct PointXYZIRADRT } }; -enum class PointIndex { X, Y, Z, Intensity, Ring, Azimuth, Distance, ReturnType, TimeStamp }; +struct PointXYZIRCAEDT +{ + float x{0.0F}; + float y{0.0F}; + float z{0.0F}; + std::uint8_t intensity{0U}; + std::uint8_t return_type{0U}; + std::uint16_t channel{0U}; + float azimuth{0.0F}; + float elevation{0.0F}; + float distance{0.0F}; + std::uint32_t time_stamp{0U}; + + friend bool operator==(const PointXYZIRCAEDT & p1, const PointXYZIRCAEDT & p2) noexcept + { + return float_eq(p1.x, p2.x) && float_eq(p1.y, p2.y) && + float_eq(p1.z, p2.z) && p1.intensity == p2.intensity && + p1.return_type == p2.return_type && p1.channel == p2.channel && + float_eq(p1.azimuth, p2.azimuth) && float_eq(p1.distance, p2.distance) && + p1.time_stamp == p2.time_stamp; + } +}; + +enum class PointXYZIIndex { X, Y, Z, Intensity }; +enum class PointXYZIRCIndex { X, Y, Z, Intensity, ReturnType, Channel }; +enum class PointXYZIRADRTIndex { + X, + Y, + Z, + Intensity, + Ring, + Azimuth, + Distance, + ReturnType, + TimeStamp +}; +enum class PointXYZIRCAEDTIndex { + X, + Y, + Z, + Intensity, + ReturnType, + Channel, + Azimuth, + Elevation, + Distance, + TimeStamp +}; LIDAR_UTILS__DEFINE_FIELD_GENERATOR_FOR_MEMBER(azimuth); +LIDAR_UTILS__DEFINE_FIELD_GENERATOR_FOR_MEMBER(elevation); LIDAR_UTILS__DEFINE_FIELD_GENERATOR_FOR_MEMBER(distance); LIDAR_UTILS__DEFINE_FIELD_GENERATOR_FOR_MEMBER(return_type); LIDAR_UTILS__DEFINE_FIELD_GENERATOR_FOR_MEMBER(time_stamp); +LIDAR_UTILS__DEFINE_FIELD_GENERATOR_FOR_MEMBER(channel); + +using PointXYZIRCGenerator = std::tuple< + point_cloud_msg_wrapper::field_x_generator, point_cloud_msg_wrapper::field_y_generator, + point_cloud_msg_wrapper::field_z_generator, point_cloud_msg_wrapper::field_intensity_generator, + field_return_type_generator, field_channel_generator>; + using PointXYZIRADRTGenerator = std::tuple< point_cloud_msg_wrapper::field_x_generator, point_cloud_msg_wrapper::field_y_generator, point_cloud_msg_wrapper::field_z_generator, point_cloud_msg_wrapper::field_intensity_generator, point_cloud_msg_wrapper::field_ring_generator, field_azimuth_generator, field_distance_generator, field_return_type_generator, field_time_stamp_generator>; +using PointXYZIRCAEDTGenerator = std::tuple< + point_cloud_msg_wrapper::field_x_generator, point_cloud_msg_wrapper::field_y_generator, + point_cloud_msg_wrapper::field_z_generator, point_cloud_msg_wrapper::field_intensity_generator, + field_return_type_generator, field_channel_generator, field_azimuth_generator, + field_elevation_generator, field_distance_generator, field_time_stamp_generator>; + } // namespace autoware_point_types +POINT_CLOUD_REGISTER_POINT_STRUCT( + autoware_point_types::PointXYZIRC, + (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)( + std::uint8_t, return_type, return_type)(std::uint16_t, channel, channel)) + POINT_CLOUD_REGISTER_POINT_STRUCT( autoware_point_types::PointXYZIRADRT, (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint16_t, ring, ring)( float, azimuth, azimuth)(float, distance, distance)(std::uint8_t, return_type, return_type)( double, time_stamp, time_stamp)) +POINT_CLOUD_REGISTER_POINT_STRUCT( + autoware_point_types::PointXYZIRCAEDT, + (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)( + std::uint8_t, return_type, + return_type)(std::uint16_t, channel, channel)(float, azimuth, azimuth)( + float, elevation, elevation)(float, distance, distance)(std::uint32_t, time_stamp, time_stamp)) #endif // AUTOWARE_POINT_TYPES__TYPES_HPP_ diff --git a/common/autoware_point_types/test/test_point_types.cpp b/common/autoware_point_types/test/test_point_types.cpp index 27ab1ef993ab3..16887ac2aa498 100644 --- a/common/autoware_point_types/test/test_point_types.cpp +++ b/common/autoware_point_types/test/test_point_types.cpp @@ -36,6 +36,15 @@ TEST(PointEquality, PointXYZIRADRT) EXPECT_EQ(pt0, pt1); } +TEST(PointEquality, PointXYZIRCAEDT) +{ + using autoware_point_types::PointXYZIRCAEDT; + + PointXYZIRCAEDT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; + PointXYZIRCAEDT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; + EXPECT_EQ(pt0, pt1); +} + TEST(PointEquality, FloatEq) { // test template diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml index ed7ff059a6e53..6cc47de76ea96 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml @@ -11,7 +11,7 @@ - + diff --git a/perception/ground_segmentation/src/scan_ground_filter/node.cpp b/perception/ground_segmentation/src/scan_ground_filter/node.cpp index 26db036f79bbe..dd867c3cfba0e 100644 --- a/perception/ground_segmentation/src/scan_ground_filter/node.cpp +++ b/perception/ground_segmentation/src/scan_ground_filter/node.cpp @@ -96,8 +96,9 @@ inline void ScanGroundFilterComponent::set_field_offsets(const PointCloud2ConstP int intensity_index = pcl::getFieldIndex(*input, "intensity"); if (intensity_index != -1) { intensity_offset_ = input->fields[intensity_index].offset; + intensity_type_ = input->fields[intensity_index].datatype; } else { - intensity_offset_ = z_offset_ + sizeof(float); + intensity_offset_ = -1; } offset_initialized_ = true; } @@ -569,6 +570,7 @@ void ScanGroundFilterComponent::extractObjectPoints( PointCloud2 & out_object_cloud) { size_t output_data_size = 0; + for (const auto & i : in_indices.indices) { std::memcpy( &out_object_cloud.data[output_data_size], &in_cloud_ptr->data[i * in_cloud_ptr->point_step], diff --git a/perception/ground_segmentation/src/scan_ground_filter/node.hpp b/perception/ground_segmentation/src/scan_ground_filter/node.hpp index 0e6ed598053ba..6de1d1b7ad09f 100644 --- a/perception/ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/ground_segmentation/src/scan_ground_filter/node.hpp @@ -161,6 +161,7 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter int y_offset_; int z_offset_; int intensity_offset_; + int intensity_type_; bool offset_initialized_; void set_field_offsets(const PointCloud2ConstPtr & input); diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp index 0f3a50628ccbc..ffeb47d3123a3 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -289,13 +289,13 @@ void PointPaintingFusionNode::fuseOnSingleImage( // tf2::doTransform(painted_pointcloud_msg, transformed_pointcloud, transform_stamped); const auto x_offset = - painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointIndex::X)) + painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointXYZIRCIndex::X)) .offset; const auto y_offset = - painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointIndex::Y)) + painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointXYZIRCIndex::Y)) .offset; const auto z_offset = - painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointIndex::Z)) + painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointXYZIRCIndex::Z)) .offset; const auto class_offset = painted_pointcloud_msg.fields.at(4).offset; const auto p_step = painted_pointcloud_msg.point_step; diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp index b704bab39338a..ba4d7f788b0f5 100644 --- a/perception/lidar_apollo_instance_segmentation/src/detector.cpp +++ b/perception/lidar_apollo_instance_segmentation/src/detector.cpp @@ -16,6 +16,8 @@ #include "lidar_apollo_instance_segmentation/feature_map.hpp" +#include + #include #include #include @@ -126,7 +128,27 @@ bool LidarApolloInstanceSegmentation::detectDynamicObjects( // convert from ros to pcl pcl::PointCloud::Ptr pcl_pointcloud_raw_ptr(new pcl::PointCloud); - pcl::fromROSMsg(transformed_cloud, *pcl_pointcloud_raw_ptr); + // pcl::fromROSMsg(transformed_cloud, *pcl_pointcloud_raw_ptr); + + auto pcl_pointcloud_raw = *pcl_pointcloud_raw_ptr; + pcl_pointcloud_raw.width = transformed_cloud.width; + pcl_pointcloud_raw.height = transformed_cloud.height; + pcl_pointcloud_raw.is_dense = transformed_cloud.is_dense == 1; + pcl_pointcloud_raw.resize(transformed_cloud.width * transformed_cloud.height); + + sensor_msgs::PointCloud2ConstIterator it_x(transformed_cloud, "x"); + sensor_msgs::PointCloud2ConstIterator it_y(transformed_cloud, "y"); + sensor_msgs::PointCloud2ConstIterator it_z(transformed_cloud, "z"); + sensor_msgs::PointCloud2ConstIterator it_intensity(transformed_cloud, "intensity"); + + for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_intensity) { + pcl::PointXYZI point; + point.x = *it_x; + point.y = *it_y; + point.z = *it_z; + point.intensity = static_cast(*it_intensity); + pcl_pointcloud_raw.emplace_back(std::move(point)); + } // generate feature map std::shared_ptr feature_map_ptr = diff --git a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp index 9d41770eb5331..c83e4836c1dd0 100644 --- a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp +++ b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp @@ -18,6 +18,8 @@ #include #include +#include + #include #include #include @@ -168,7 +170,29 @@ std::shared_ptr ApolloLidarSegmentation::detec sensor_msgs::msg::PointCloud2 transformed_cloud; ApolloLidarSegmentation::transformCloud(input, transformed_cloud, z_offset_); // convert from ros to pcl - pcl::fromROSMsg(transformed_cloud, *pcl_pointcloud_ptr_); + // pcl::fromROSMsg( + // transformed_cloud, *pcl_pointcloud_ptr_); // Manual conversion is needed since intensity + // comes as an uint8_t + + auto pcl_pointcloud = *pcl_pointcloud_ptr_; + pcl_pointcloud.width = input.width; + pcl_pointcloud.height = input.height; + pcl_pointcloud.is_dense = input.is_dense == 1; + pcl_pointcloud.resize(input.width * input.height); + + sensor_msgs::PointCloud2ConstIterator it_x(input, "x"); + sensor_msgs::PointCloud2ConstIterator it_y(input, "y"); + sensor_msgs::PointCloud2ConstIterator it_z(input, "z"); + sensor_msgs::PointCloud2ConstIterator it_intensity(input, "intensity"); + + for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_intensity) { + pcl::PointXYZI point; + point.x = *it_x; + point.y = *it_y; + point.z = *it_z; + point.intensity = static_cast(*it_intensity); + pcl_pointcloud.emplace_back(std::move(point)); + } // inference pipeline auto output = pipeline->schedule(pcl_pointcloud_ptr_); diff --git a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp index 105fc98722a26..62b6b9f3b09b5 100644 --- a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp +++ b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp @@ -125,9 +125,9 @@ bool LowIntensityClusterFilter::isValidatedCluster(const sensor_msgs::msg::Point RCLCPP_WARN(get_logger(), "Invalid point cloud data. point_step is less than 16."); return true; } - for (sensor_msgs::PointCloud2ConstIterator iter(cluster, "intensity"); iter != iter.end(); - ++iter) { - mean_intensity += *iter; + for (sensor_msgs::PointCloud2ConstIterator iter(cluster, "intensity"); + iter != iter.end(); ++iter) { + mean_intensity += static_cast(*iter); } const size_t num_points = cluster.width * cluster.height; mean_intensity /= static_cast(num_points); diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt index 2d0649fe43954..76b9cc91ea586 100644 --- a/sensing/pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/pointcloud_preprocessor/CMakeLists.txt @@ -26,11 +26,13 @@ include_directories( add_library(pointcloud_preprocessor_filter_base SHARED src/filter.cpp + src/utility/memory.cpp ) target_include_directories(pointcloud_preprocessor_filter_base PUBLIC "$" "$" + ${autoware_point_types_INCLUDE_DIRS} ) ament_target_dependencies(pointcloud_preprocessor_filter_base @@ -41,6 +43,7 @@ ament_target_dependencies(pointcloud_preprocessor_filter_base tf2_ros autoware_universe_utils pcl_ros + autoware_point_types ) add_library(faster_voxel_grid_downsample_filter SHARED @@ -59,7 +62,6 @@ ament_target_dependencies(faster_voxel_grid_downsample_filter ) ament_auto_add_library(pointcloud_preprocessor_filter SHARED - src/utility/utilities.cpp src/concatenate_data/concatenate_and_time_sync_nodelet.cpp src/concatenate_data/concatenate_pointclouds.cpp src/time_synchronizer/time_synchronizer_nodelet.cpp @@ -82,6 +84,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED src/blockage_diag/blockage_diag_nodelet.cpp src/polygon_remover/polygon_remover.cpp src/vector_map_filter/vector_map_inside_area_filter.cpp + src/utility/geometry.cpp ) target_link_libraries(pointcloud_preprocessor_filter @@ -227,16 +230,19 @@ ament_auto_package(INSTALL_TO_SHARE if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) find_package(ament_cmake_gtest) + ament_lint_auto_find_test_dependencies() + ament_add_gtest(test_utilities test/test_utilities.cpp ) - ament_add_gtest(distortion_corrector_node_tests - test/test_distortion_corrector_node.cpp + + ament_add_gtest(test_distortion_corrector_node + test/test_distortion_corrector_node.cpp ) target_link_libraries(test_utilities pointcloud_preprocessor_filter) - target_link_libraries(distortion_corrector_node_tests pointcloud_preprocessor_filter) + target_link_libraries(test_distortion_corrector_node pointcloud_preprocessor_filter) endif() diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index cc32aa3df4b62..16f9d05807fa7 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -10,7 +10,7 @@ This node can remove rain and fog by considering the light reflected from the ob ![outlier_filter-return_type](./image/outlier_filter-return_type.drawio.svg) -Therefore, in order to use this node, the sensor driver must publish custom data including `return_type`. please refer to [PointXYZIRADRT](../../../common/autoware_point_types/include/autoware_point_types/types.hpp#L57-L76) data structure. +Therefore, in order to use this node, the sensor driver must publish custom data including `return_type`. please refer to [PointXYZIRCAEDT](../../../common/autoware_point_types/include/autoware_point_types/types.hpp#L95-L116) data structure. Another feature of this node is that it publishes visibility as a diagnostic topic. With this function, for example, in heavy rain, the sensing module can notify that the processing performance has reached its limit, which can lead to ensuring the safety of the vehicle. @@ -75,7 +75,7 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref ## Assumptions / Known limits Not recommended for use as it is under development. -Input data must be `PointXYZIRADRT` type data including `return_type`. +Input data must be [PointXYZIRCAEDT](../../../common/autoware_point_types/include/autoware_point_types/types.hpp#L95-L116) type data including `return_type`. ## (Optional) Error detection and handling diff --git a/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md index ddad51998dcd3..052c725a5e7cf 100644 --- a/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md @@ -75,16 +75,7 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref ## Assumptions / Known limits -It is a prerequisite to input a scan point cloud in chronological order. In this repository it is defined as blow structure (please refer to [PointXYZIRADT](https://github.com/tier4/AutowareArchitectureProposal.iv/blob/5d8dff0db51634f0c42d2a3e87ca423fbee84348/sensing/preprocessor/pointcloud/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp#L53-L62)). - -- X: x -- Y: y -- z: z -- I: intensity -- R: ring -- A :azimuth -- D: distance -- T: time_stamp +This nodes requires that the points of the input point cloud are in chronological order and that individual points follow the memory layout specified by [PointXYZIRCAEDT](../../../common/autoware_point_types/include/autoware_point_types/types.hpp#L95-L116). ## (Optional) Error detection and handling diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp index 86c4ed5943540..619a0b8520b97 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp @@ -87,7 +87,7 @@ namespace pointcloud_preprocessor { -using autoware_point_types::PointXYZI; +using autoware_point_types::PointXYZIRC; using point_cloud_msg_wrapper::PointCloud2Modifier; /** \brief @b PointCloudConcatenateDataSynchronizerComponent is a special form of data @@ -169,7 +169,7 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node sensor_msgs::msg::PointCloud2::SharedPtr & concat_cloud_ptr); void publish(); - void convertToXYZICloud( + void convertToXYZIRCCloud( const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr); void setPeriod(const int64_t new_period); diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp index ead66d98b8be7..77717c51e6981 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp @@ -86,7 +86,7 @@ namespace pointcloud_preprocessor { -using autoware_point_types::PointXYZI; +using autoware_point_types::PointXYZIRC; using point_cloud_msg_wrapper::PointCloud2Modifier; /** \brief @b PointCloudConcatenationComponent is a special form of data * synchronizer: it listens for a set of input PointCloud messages on the same topic, @@ -160,7 +160,7 @@ class PointCloudConcatenationComponent : public rclcpp::Node void combineClouds(sensor_msgs::msg::PointCloud2::SharedPtr & concat_cloud_ptr); void publish(); - void convertToXYZICloud( + void convertToXYZIRCCloud( const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr); void setPeriod(const int64_t new_period); diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp index d80e62d08330d..379c4c79e555a 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp @@ -34,7 +34,7 @@ class FasterVoxelGridDownsampleFilter public: FasterVoxelGridDownsampleFilter(); void set_voxel_size(float voxel_size_x, float voxel_size_y, float voxel_size_z); - void set_field_offsets(const PointCloud2ConstPtr & input); + void set_field_offsets(const PointCloud2ConstPtr & input, const rclcpp::Logger & logger); void filter( const PointCloud2ConstPtr & input, PointCloud2 & output, const TransformInfo & transform_info, const rclcpp::Logger & logger); @@ -48,7 +48,7 @@ class FasterVoxelGridDownsampleFilter float intensity; uint32_t point_count_; - Centroid() : x(0), y(0), z(0), intensity(-1.0) {} + Centroid() : x(0), y(0), z(0), intensity(0) {} Centroid(float _x, float _y, float _z, float _intensity) : x(_x), y(_y), z(_z), intensity(_intensity) { diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp index 55ba79aac4593..08fbfe73f2744 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp @@ -35,12 +35,15 @@ namespace pointcloud_preprocessor { -using autoware_point_types::PointXYZI; using point_cloud_msg_wrapper::PointCloud2Modifier; class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter { protected: + using InputPointIndex = autoware_point_types::PointXYZIRCAEDTIndex; + using InputPointType = autoware_point_types::PointXYZIRCAEDT; + using OutputPointType = autoware_point_types::PointXYZIRC; + virtual void filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); @@ -83,8 +86,10 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter { if (walk_size > num_points_threshold_) return true; - auto first_point = reinterpret_cast(&input->data[data_idx_both_ends.first]); - auto last_point = reinterpret_cast(&input->data[data_idx_both_ends.second]); + auto first_point = + reinterpret_cast(&input->data[data_idx_both_ends.first]); + auto last_point = + reinterpret_cast(&input->data[data_idx_both_ends.second]); const auto x = first_point->x - last_point->x; const auto y = first_point->y - last_point->y; @@ -94,8 +99,7 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter } void setUpPointCloudFormat( - const PointCloud2ConstPtr & input, PointCloud2 & formatted_points, size_t points_size, - size_t num_fields); + const PointCloud2ConstPtr & input, PointCloud2 & formatted_points, size_t points_size); float calculateVisibilityScore(const PointCloud2 & input); public: diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp index 49baed4ed7ed5..4d2e66eea700e 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp @@ -16,7 +16,7 @@ #define POINTCLOUD_PREPROCESSOR__POLYGON_REMOVER__POLYGON_REMOVER_HPP_ #include "pointcloud_preprocessor/filter.hpp" -#include "pointcloud_preprocessor/utility/utilities.hpp" +#include "pointcloud_preprocessor/utility/geometry.hpp" #include #include diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp index 4153cee7695f8..2dc98a571ff2c 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp @@ -87,7 +87,7 @@ namespace pointcloud_preprocessor { -using autoware_point_types::PointXYZI; +using autoware_point_types::PointXYZIRC; using point_cloud_msg_wrapper::PointCloud2Modifier; // cspell:ignore Yoshi /** \brief @b PointCloudDataSynchronizerComponent is a special form of data @@ -166,7 +166,7 @@ class PointCloudDataSynchronizerComponent : public rclcpp::Node std::map synchronizeClouds(); void publish(); - void convertToXYZICloud( + void convertToXYZIRCCloud( const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr); void setPeriod(const int64_t new_period); diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/utilities.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp similarity index 78% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/utilities.hpp rename to sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp index 654057e7bb8d7..0175f88ceb89c 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/utilities.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp @@ -1,4 +1,4 @@ -// Copyright 2022 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POINTCLOUD_PREPROCESSOR__UTILITY__UTILITIES_HPP_ -#define POINTCLOUD_PREPROCESSOR__UTILITY__UTILITIES_HPP_ +#ifndef POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ +#define POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ #include #include @@ -81,14 +81,6 @@ void remove_polygon_cgal_from_cloud( bool point_within_cgal_polys( const pcl::PointXYZ & point, const std::vector & polyline_polygons); -/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZI. That is to - * say whether you can memcpy from the PointCloud2 data buffer to a PointXYZI */ -bool is_data_layout_compatible_with_PointXYZI(const sensor_msgs::msg::PointCloud2 & input); - -/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRADRT. That - * is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRADRT */ -bool is_data_layout_compatible_with_PointXYZIRADRT(const sensor_msgs::msg::PointCloud2 & input); - } // namespace pointcloud_preprocessor::utils -#endif // POINTCLOUD_PREPROCESSOR__UTILITY__UTILITIES_HPP_ +#endif // POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp new file mode 100644 index 0000000000000..ef87a4f31457b --- /dev/null +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp @@ -0,0 +1,40 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef POINTCLOUD_PREPROCESSOR__UTILITY__MEMORY_HPP_ +#define POINTCLOUD_PREPROCESSOR__UTILITY__MEMORY_HPP_ + +#include + +namespace pointcloud_preprocessor::utils +{ +/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZI. That is to + * say whether you can memcpy from the PointCloud2 data buffer to a PointXYZI */ +bool is_data_layout_compatible_with_point_xyzi(const sensor_msgs::msg::PointCloud2 & input); + +/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRC. That is + * to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRC */ +bool is_data_layout_compatible_with_point_xyzirc(const sensor_msgs::msg::PointCloud2 & input); + +/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRADRT. That + * is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRADRT */ +bool is_data_layout_compatible_with_point_xyziradrt(const sensor_msgs::msg::PointCloud2 & input); + +/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRCAEDT. That + * is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRCAEDT */ +bool is_data_layout_compatible_with_point_xyzircaedt(const sensor_msgs::msg::PointCloud2 & input); + +} // namespace pointcloud_preprocessor::utils + +#endif // POINTCLOUD_PREPROCESSOR__UTILITY__MEMORY_HPP_ diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp index 7f48497d7e578..d28a6550123cf 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp @@ -1,4 +1,4 @@ -// Copyright 2022 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -16,7 +16,7 @@ #define POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_ #include "pointcloud_preprocessor/filter.hpp" -#include "pointcloud_preprocessor/utility/utilities.hpp" +#include "pointcloud_preprocessor/utility/geometry.hpp" #include #include diff --git a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp index 773e6db056990..aae50a18f2024 100644 --- a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp @@ -21,7 +21,7 @@ namespace pointcloud_preprocessor { -using autoware_point_types::PointXYZIRADRT; +using autoware_point_types::PointXYZIRCAEDT; using diagnostic_msgs::msg::DiagnosticStatus; BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options) @@ -175,7 +175,7 @@ void BlockageDiagComponent::filter( } ideal_horizontal_bins = static_cast( (angle_range_deg_[1] + compensate_angle - angle_range_deg_[0]) / horizontal_resolution_); - pcl::PointCloud::Ptr pcl_input(new pcl::PointCloud); + pcl::PointCloud::Ptr pcl_input(new pcl::PointCloud); pcl::fromROSMsg(*input, *pcl_input); cv::Mat full_size_depth_map( cv::Size(ideal_horizontal_bins, vertical_bins), CV_16UC1, cv::Scalar(0)); @@ -196,7 +196,7 @@ void BlockageDiagComponent::filter( sky_blockage_range_deg_[1] = angle_range_deg_[1]; } else { for (const auto p : pcl_input->points) { - double azimuth_deg = p.azimuth / 100.; + double azimuth_deg = p.azimuth * (180.0 / M_PI); if ( ((azimuth_deg > angle_range_deg_[0]) && (azimuth_deg <= angle_range_deg_[1] + compensate_angle)) || @@ -208,9 +208,9 @@ void BlockageDiagComponent::filter( uint16_t depth_intensity = UINT16_MAX * (1.0 - std::min(p.distance / max_distance_range_, 1.0)); if (is_channel_order_top2down_) { - full_size_depth_map.at(p.ring, horizontal_bin_index) = depth_intensity; + full_size_depth_map.at(p.channel, horizontal_bin_index) = depth_intensity; } else { - full_size_depth_map.at(vertical_bins - p.ring - 1, horizontal_bin_index) = + full_size_depth_map.at(vertical_bins - p.channel - 1, horizontal_bin_index) = depth_intensity; } } diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index 9a13f57a87b72..62c41bd5252fa 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -51,6 +51,8 @@ #include "pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp" +#include "pointcloud_preprocessor/utility/memory.hpp" + #include #include @@ -490,40 +492,56 @@ void PointCloudConcatenateDataSynchronizerComponent::publish() } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PointCloudConcatenateDataSynchronizerComponent::convertToXYZICloud( +void PointCloudConcatenateDataSynchronizerComponent::convertToXYZIRCCloud( const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr) { output_ptr->header = input_ptr->header; - PointCloud2Modifier output_modifier{*output_ptr, input_ptr->header.frame_id}; + PointCloud2Modifier output_modifier{ + *output_ptr, input_ptr->header.frame_id}; output_modifier.reserve(input_ptr->width); - bool has_intensity = std::any_of( - input_ptr->fields.begin(), input_ptr->fields.end(), - [](auto & field) { return field.name == "intensity"; }); + bool has_valid_intensity = + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + return field.name == "intensity" && field.datatype == sensor_msgs::msg::PointField::UINT8; + }); + + bool has_valid_return_type = + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + return field.name == "return_type" && field.datatype == sensor_msgs::msg::PointField::UINT8; + }); + + bool has_valid_channel = + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + return field.name == "channel" && field.datatype == sensor_msgs::msg::PointField::UINT16; + }); sensor_msgs::PointCloud2Iterator it_x(*input_ptr, "x"); sensor_msgs::PointCloud2Iterator it_y(*input_ptr, "y"); sensor_msgs::PointCloud2Iterator it_z(*input_ptr, "z"); - if (has_intensity) { - sensor_msgs::PointCloud2Iterator it_i(*input_ptr, "intensity"); - for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_i) { - PointXYZI point; + if (has_valid_intensity && has_valid_return_type && has_valid_channel) { + sensor_msgs::PointCloud2Iterator it_i(*input_ptr, "intensity"); + sensor_msgs::PointCloud2Iterator it_r(*input_ptr, "return_type"); + sensor_msgs::PointCloud2Iterator it_c(*input_ptr, "channel"); + + for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_i, ++it_r, ++it_c) { + PointXYZIRC point; point.x = *it_x; point.y = *it_y; point.z = *it_z; point.intensity = *it_i; + point.return_type = *it_r; + point.channel = *it_c; output_modifier.push_back(std::move(point)); } } else { for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z) { - PointXYZI point; + PointXYZIRC point; point.x = *it_x; point.y = *it_y; point.z = *it_z; - point.intensity = 0.0f; output_modifier.push_back(std::move(point)); } } @@ -548,15 +566,28 @@ void PointCloudConcatenateDataSynchronizerComponent::setPeriod(const int64_t new void PointCloudConcatenateDataSynchronizerComponent::cloud_callback( const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_ptr, const std::string & topic_name) { + if (!utils::is_data_layout_compatible_with_point_xyzirc(*input_ptr)) { + RCLCPP_ERROR( + get_logger(), "The pointcloud layout is not compatible with PointXYZIRC. Aborting"); + + if (utils::is_data_layout_compatible_with_point_xyzi(*input_ptr)) { + RCLCPP_ERROR( + get_logger(), + "The pointcloud layout is compatible with PointXYZI. You may be using legacy code/data"); + } + + return; + } + std::lock_guard lock(mutex_); - sensor_msgs::msg::PointCloud2::SharedPtr xyzi_input_ptr(new sensor_msgs::msg::PointCloud2()); + sensor_msgs::msg::PointCloud2::SharedPtr xyzirc_input_ptr(new sensor_msgs::msg::PointCloud2()); auto input = std::make_shared(*input_ptr); if (input->data.empty()) { RCLCPP_WARN_STREAM_THROTTLE( this->get_logger(), *this->get_clock(), 1000, "Empty sensor points!"); } else { - // convert to XYZI pointcloud if pointcloud is not empty - convertToXYZICloud(input, xyzi_input_ptr); + // convert to XYZIRC pointcloud if pointcloud is not empty + convertToXYZIRCCloud(input, xyzirc_input_ptr); } const bool is_already_subscribed_this = (cloud_stdmap_[topic_name] != nullptr); @@ -565,7 +596,7 @@ void PointCloudConcatenateDataSynchronizerComponent::cloud_callback( [](const auto & e) { return e.second != nullptr; }); if (is_already_subscribed_this) { - cloud_stdmap_tmp_[topic_name] = xyzi_input_ptr; + cloud_stdmap_tmp_[topic_name] = xyzirc_input_ptr; if (!is_already_subscribed_tmp) { auto period = std::chrono::duration_cast( @@ -578,7 +609,7 @@ void PointCloudConcatenateDataSynchronizerComponent::cloud_callback( timer_->reset(); } } else { - cloud_stdmap_[topic_name] = xyzi_input_ptr; + cloud_stdmap_[topic_name] = xyzirc_input_ptr; const bool is_subscribed_all = std::all_of( std::begin(cloud_stdmap_), std::end(cloud_stdmap_), diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index c2d185d1ed2c2..a54ec123c154f 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -14,6 +14,8 @@ #include "pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp" +#include "pointcloud_preprocessor/utility/memory.hpp" + #include #include @@ -325,39 +327,56 @@ void PointCloudConcatenationComponent::publish() } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PointCloudConcatenationComponent::convertToXYZICloud( +void PointCloudConcatenationComponent::convertToXYZIRCCloud( const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr) { output_ptr->header = input_ptr->header; - PointCloud2Modifier output_modifier{*output_ptr, input_ptr->header.frame_id}; + + PointCloud2Modifier output_modifier{ + *output_ptr, input_ptr->header.frame_id}; output_modifier.reserve(input_ptr->width); - bool has_intensity = std::any_of( - input_ptr->fields.begin(), input_ptr->fields.end(), - [](auto & field) { return field.name == "intensity"; }); + bool has_valid_intensity = + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + return field.name == "intensity" && field.datatype == sensor_msgs::msg::PointField::UINT8; + }); + + bool has_valid_return_type = + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + return field.name == "return_type" && field.datatype == sensor_msgs::msg::PointField::UINT8; + }); + + bool has_valid_channel = + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + return field.name == "channel" && field.datatype == sensor_msgs::msg::PointField::UINT16; + }); sensor_msgs::PointCloud2Iterator it_x(*input_ptr, "x"); sensor_msgs::PointCloud2Iterator it_y(*input_ptr, "y"); sensor_msgs::PointCloud2Iterator it_z(*input_ptr, "z"); - if (has_intensity) { - sensor_msgs::PointCloud2Iterator it_i(*input_ptr, "intensity"); - for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_i) { - PointXYZI point; + if (has_valid_intensity && has_valid_return_type && has_valid_channel) { + sensor_msgs::PointCloud2Iterator it_i(*input_ptr, "intensity"); + sensor_msgs::PointCloud2Iterator it_r(*input_ptr, "return_type"); + sensor_msgs::PointCloud2Iterator it_c(*input_ptr, "channel"); + + for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_i, ++it_r, ++it_c) { + PointXYZIRC point; point.x = *it_x; point.y = *it_y; point.z = *it_z; point.intensity = *it_i; + point.return_type = *it_r; + point.channel = *it_c; output_modifier.push_back(std::move(point)); } } else { for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z) { - PointXYZI point; + PointXYZIRC point; point.x = *it_x; point.y = *it_y; point.z = *it_z; - point.intensity = 0.0f; output_modifier.push_back(std::move(point)); } } @@ -382,10 +401,23 @@ void PointCloudConcatenationComponent::setPeriod(const int64_t new_period) void PointCloudConcatenationComponent::cloud_callback( const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_ptr, const std::string & topic_name) { + if (!utils::is_data_layout_compatible_with_point_xyzirc(*input_ptr)) { + RCLCPP_ERROR( + get_logger(), "The pointcloud layout is not compatible with PointXYZIRC. Aborting"); + + if (utils::is_data_layout_compatible_with_point_xyzi(*input_ptr)) { + RCLCPP_ERROR( + get_logger(), + "The pointcloud layout is compatible with PointXYZI. You may be using legacy code/data"); + } + + return; + } + std::lock_guard lock(mutex_); auto input = std::make_shared(*input_ptr); - sensor_msgs::msg::PointCloud2::SharedPtr xyzi_input_ptr(new sensor_msgs::msg::PointCloud2()); - convertToXYZICloud(input, xyzi_input_ptr); + sensor_msgs::msg::PointCloud2::SharedPtr xyzirc_input_ptr(new sensor_msgs::msg::PointCloud2()); + convertToXYZIRCCloud(input, xyzirc_input_ptr); const bool is_already_subscribed_this = (cloud_stdmap_[topic_name] != nullptr); const bool is_already_subscribed_tmp = std::any_of( @@ -393,7 +425,7 @@ void PointCloudConcatenationComponent::cloud_callback( [](const auto & e) { return e.second != nullptr; }); if (is_already_subscribed_this) { - cloud_stdmap_tmp_[topic_name] = xyzi_input_ptr; + cloud_stdmap_tmp_[topic_name] = xyzirc_input_ptr; if (!is_already_subscribed_tmp) { auto period = std::chrono::duration_cast( @@ -406,7 +438,7 @@ void PointCloudConcatenationComponent::cloud_callback( timer_->reset(); } } else { - cloud_stdmap_[topic_name] = xyzi_input_ptr; + cloud_stdmap_[topic_name] = xyzirc_input_ptr; const bool is_subscribed_all = std::all_of( std::begin(cloud_stdmap_), std::end(cloud_stdmap_), diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index f933d4c6f75d9..4a7152a3cd38a 100644 --- a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -14,8 +14,9 @@ #include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" -#include "autoware/universe_utils/math/trigonometry.hpp" +#include "pointcloud_preprocessor/utility/memory.hpp" +#include #include namespace pointcloud_preprocessor @@ -181,6 +182,22 @@ bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointc "Required field time stamp doesn't exist in the point cloud."); return false; } + + if (!utils::is_data_layout_compatible_with_point_xyzircaedt(pointcloud)) { + RCLCPP_ERROR( + node_->get_logger(), + "The pointcloud layout is not compatible with PointXYZIRCAEDT. Aborting"); + + if (utils::is_data_layout_compatible_with_point_xyziradrt(pointcloud)) { + RCLCPP_ERROR( + node_->get_logger(), + "The pointcloud layout is compatible with PointXYZIRADRT. You may be using legacy " + "code/data"); + } + + return false; + } + return true; } @@ -193,10 +210,12 @@ void DistortionCorrector::undistortPointCloud( sensor_msgs::PointCloud2Iterator it_x(pointcloud, "x"); sensor_msgs::PointCloud2Iterator it_y(pointcloud, "y"); sensor_msgs::PointCloud2Iterator it_z(pointcloud, "z"); - sensor_msgs::PointCloud2ConstIterator it_time_stamp(pointcloud, "time_stamp"); + sensor_msgs::PointCloud2ConstIterator it_time_stamp(pointcloud, "time_stamp"); - double prev_time_stamp_sec{*it_time_stamp}; - const double first_point_time_stamp_sec{*it_time_stamp}; + double prev_time_stamp_sec{ + pointcloud.header.stamp.sec + 1e-9 * (pointcloud.header.stamp.nanosec + *it_time_stamp)}; + const double first_point_time_stamp_sec{ + pointcloud.header.stamp.sec + 1e-9 * (pointcloud.header.stamp.nanosec + *it_time_stamp)}; std::deque::iterator it_twist; std::deque::iterator it_imu; @@ -214,29 +233,33 @@ void DistortionCorrector::undistortPointCloud( bool is_imu_time_stamp_too_late = false; bool is_twist_valid = true; bool is_imu_valid = true; + double global_point_stamp; for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_time_stamp) { is_twist_valid = true; is_imu_valid = true; + global_point_stamp = + pointcloud.header.stamp.sec + 1e-9 * (pointcloud.header.stamp.nanosec + *it_time_stamp); + // Get closest twist information - while (it_twist != std::end(twist_queue_) - 1 && *it_time_stamp > twist_stamp) { + while (it_twist != std::end(twist_queue_) - 1 && global_point_stamp > twist_stamp) { ++it_twist; twist_stamp = rclcpp::Time(it_twist->header.stamp).seconds(); } - if (std::abs(*it_time_stamp - twist_stamp) > 0.1) { + if (std::abs(global_point_stamp - twist_stamp) > 0.1) { is_twist_time_stamp_too_late = true; is_twist_valid = false; } // Get closest IMU information if (use_imu && !angular_velocity_queue_.empty()) { - while (it_imu != std::end(angular_velocity_queue_) - 1 && *it_time_stamp > imu_stamp) { + while (it_imu != std::end(angular_velocity_queue_) - 1 && global_point_stamp > imu_stamp) { ++it_imu; imu_stamp = rclcpp::Time(it_imu->header.stamp).seconds(); } - if (std::abs(*it_time_stamp - imu_stamp) > 0.1) { + if (std::abs(global_point_stamp - imu_stamp) > 0.1) { is_imu_time_stamp_too_late = true; is_imu_valid = false; } @@ -244,12 +267,12 @@ void DistortionCorrector::undistortPointCloud( is_imu_valid = false; } - float time_offset = static_cast(*it_time_stamp - prev_time_stamp_sec); + float time_offset = static_cast(global_point_stamp - prev_time_stamp_sec); // Undistort a single point based on the strategy undistortPoint(it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); - prev_time_stamp_sec = *it_time_stamp; + prev_time_stamp_sec = global_point_stamp; } warnIfTimestampIsTooLate(is_twist_time_stamp_too_late, is_imu_time_stamp_too_late); diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp index 0ca28f5f9a455..b9488d1ed7a73 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp @@ -29,16 +29,27 @@ void FasterVoxelGridDownsampleFilter::set_voxel_size( Eigen::Array3f::Ones() / Eigen::Array3f(voxel_size_x, voxel_size_y, voxel_size_z); } -void FasterVoxelGridDownsampleFilter::set_field_offsets(const PointCloud2ConstPtr & input) +void FasterVoxelGridDownsampleFilter::set_field_offsets( + const PointCloud2ConstPtr & input, const rclcpp::Logger & logger) { x_offset_ = input->fields[pcl::getFieldIndex(*input, "x")].offset; y_offset_ = input->fields[pcl::getFieldIndex(*input, "y")].offset; z_offset_ = input->fields[pcl::getFieldIndex(*input, "z")].offset; intensity_index_ = pcl::getFieldIndex(*input, "intensity"); + + if ( + intensity_index_ < 0 || input->fields[pcl::getFieldIndex(*input, "intensity")].datatype != + sensor_msgs::msg::PointField::UINT8) { + RCLCPP_ERROR( + logger, + "There is no intensity field in the input point cloud or the intensity field is not of type " + "UINT8."); + } + if (intensity_index_ != -1) { intensity_offset_ = input->fields[intensity_index_].offset; } else { - intensity_offset_ = z_offset_ + sizeof(float); + intensity_offset_ = -1; } offset_initialized_ = true; } @@ -49,7 +60,7 @@ void FasterVoxelGridDownsampleFilter::filter( { // Check if the field offset has been set if (!offset_initialized_) { - set_field_offsets(input); + set_field_offsets(input, logger); } // Compute the minimum and maximum voxel coordinates @@ -85,10 +96,9 @@ Eigen::Vector4f FasterVoxelGridDownsampleFilter::get_point_from_global_offset( const PointCloud2ConstPtr & input, size_t global_offset) { float intensity = 0.0; - if (intensity_index_ == -1) { - intensity = -1.0; - } else { - intensity = *reinterpret_cast(&input->data[global_offset + intensity_offset_]); + if (intensity_index_ >= 0) { + intensity = static_cast( + *reinterpret_cast(&input->data[global_offset + intensity_offset_])); } Eigen::Vector4f point( *reinterpret_cast(&input->data[global_offset + x_offset_]), @@ -179,7 +189,8 @@ void FasterVoxelGridDownsampleFilter::copy_centroids_to_output( *reinterpret_cast(&output.data[output_data_size + x_offset_]) = centroid[0]; *reinterpret_cast(&output.data[output_data_size + y_offset_]) = centroid[1]; *reinterpret_cast(&output.data[output_data_size + z_offset_]) = centroid[2]; - *reinterpret_cast(&output.data[output_data_size + intensity_offset_]) = centroid[3]; + *reinterpret_cast(&output.data[output_data_size + intensity_offset_]) = + static_cast(centroid[3]); output_data_size += output.point_step; } } diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp index ad6e49514714a..992f2086edcd0 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp @@ -108,7 +108,7 @@ void VoxelGridDownsampleFilterComponent::faster_filter( std::scoped_lock lock(mutex_); FasterVoxelGridDownsampleFilter faster_voxel_filter; faster_voxel_filter.set_voxel_size(voxel_size_x_, voxel_size_y_, voxel_size_z_); - faster_voxel_filter.set_field_offsets(input); + faster_voxel_filter.set_field_offsets(input, this->get_logger()); faster_voxel_filter.filter(input, output, transform_info, this->get_logger()); } diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp index b306e23af5e8e..9b52babac88d6 100644 --- a/sensing/pointcloud_preprocessor/src/filter.cpp +++ b/sensing/pointcloud_preprocessor/src/filter.cpp @@ -51,6 +51,8 @@ #include "pointcloud_preprocessor/filter.hpp" +#include "pointcloud_preprocessor/utility/memory.hpp" + #include #include @@ -411,6 +413,30 @@ bool pointcloud_preprocessor::Filter::convert_output_costly(std::unique_ptrget_logger(), "[input_indices_callback] Invalid input!"); return; diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 7da38e47a16df..88d1666267c8f 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -28,7 +28,7 @@ namespace pointcloud_preprocessor { -using autoware_point_types::PointXYZIRADRT; +using autoware_point_types::PointXYZIRCAEDT; using autoware_point_types::ReturnType; using diagnostic_msgs::msg::DiagnosticStatus; @@ -105,22 +105,22 @@ void DualReturnOutlierFilterComponent::filter( if (indices) { RCLCPP_WARN(get_logger(), "Indices are not supported and will be ignored"); } - pcl::PointCloud::Ptr pcl_input(new pcl::PointCloud); + pcl::PointCloud::Ptr pcl_input(new pcl::PointCloud); pcl::fromROSMsg(*input, *pcl_input); uint32_t vertical_bins = vertical_bins_; uint32_t horizontal_bins = 36; - float max_azimuth = 36000.0f; + float max_azimuth = 2 * M_PI; float min_azimuth = 0.0f; switch (roi_mode_map_[roi_mode_]) { case 2: { - max_azimuth = max_azimuth_deg_ * 100.0; - min_azimuth = min_azimuth_deg_ * 100.0; + max_azimuth = max_azimuth_deg_ * (M_PI / 180.0); + min_azimuth = min_azimuth_deg_ * (M_PI / 180.0); break; } default: { - max_azimuth = 36000.0f; + max_azimuth = 2 * M_PI; min_azimuth = 0.0f; break; } @@ -129,13 +129,13 @@ void DualReturnOutlierFilterComponent::filter( uint32_t horizontal_resolution = static_cast((max_azimuth - min_azimuth) / horizontal_bins); - pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); + pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); pcl_output->points.reserve(pcl_input->points.size()); - std::vector> pcl_input_ring_array; - std::vector> weak_first_pcl_input_ring_array; + std::vector> pcl_input_ring_array; + std::vector> weak_first_pcl_input_ring_array; - pcl::PointCloud::Ptr noise_output(new pcl::PointCloud); + pcl::PointCloud::Ptr noise_output(new pcl::PointCloud); noise_output->points.reserve(pcl_input->points.size()); pcl_input_ring_array.resize( vertical_bins); // TODO(davidw): this is for Pandar 40 only, make dynamic @@ -144,9 +144,9 @@ void DualReturnOutlierFilterComponent::filter( // Split into 36 x 10 degree bins x 40 lines (TODO: change to dynamic) for (const auto & p : pcl_input->points) { if (p.return_type == ReturnType::DUAL_WEAK_FIRST) { - weak_first_pcl_input_ring_array.at(p.ring).push_back(p); + weak_first_pcl_input_ring_array.at(p.channel).push_back(p); } else { - pcl_input_ring_array.at(p.ring).push_back(p); + pcl_input_ring_array.at(p.channel).push_back(p); } } @@ -159,16 +159,16 @@ void DualReturnOutlierFilterComponent::filter( } std::vector deleted_azimuths; std::vector deleted_distances; - pcl::PointCloud temp_segment; + pcl::PointCloud temp_segment; bool keep_next = false; - uint ring_id = weak_first_single_ring.points.front().ring; + uint ring_id = weak_first_single_ring.points.front().channel; for (auto iter = std::begin(weak_first_single_ring) + 1; iter != std::end(weak_first_single_ring) - 1; ++iter) { const float min_dist = std::min(iter->distance, (iter + 1)->distance); const float max_dist = std::max(iter->distance, (iter + 1)->distance); float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; - azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; + azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 2 * M_PI : azimuth_diff; if (max_dist < min_dist * weak_first_distance_ratio_ && azimuth_diff < max_azimuth_diff) { temp_segment.points.push_back(*iter); @@ -278,14 +278,14 @@ void DualReturnOutlierFilterComponent::filter( if (input_ring.size() < 2) { continue; } - pcl::PointCloud temp_segment; + pcl::PointCloud temp_segment; bool keep_next = false; // uint ring_id = input_ring.points.front().ring; for (auto iter = std::begin(input_ring) + 1; iter != std::end(input_ring) - 1; ++iter) { const float min_dist = std::min(iter->distance, (iter + 1)->distance); const float max_dist = std::max(iter->distance, (iter + 1)->distance); float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; - azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; + azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 2 * M_PI : azimuth_diff; if (max_dist < min_dist * general_distance_ratio_ && azimuth_diff < max_azimuth_diff) { temp_segment.points.push_back(*iter); diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp index 28fbc11b77180..3182c6fc6a075 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp @@ -79,24 +79,22 @@ void RingOutlierFilterComponent::faster_filter( } stop_watch_ptr_->toc("processing_time", true); - output.point_step = sizeof(PointXYZI); + output.point_step = sizeof(OutputPointType); output.data.resize(output.point_step * input->width); size_t output_size = 0; - pcl::PointCloud::Ptr outlier_pcl(new pcl::PointCloud); - - const auto ring_offset = - input->fields.at(static_cast(autoware_point_types::PointIndex::Ring)).offset; - const auto azimuth_offset = - input->fields.at(static_cast(autoware_point_types::PointIndex::Azimuth)).offset; - const auto distance_offset = - input->fields.at(static_cast(autoware_point_types::PointIndex::Distance)).offset; - const auto intensity_offset = - input->fields.at(static_cast(autoware_point_types::PointIndex::Intensity)).offset; - const auto return_type_offset = - input->fields.at(static_cast(autoware_point_types::PointIndex::ReturnType)).offset; - const auto time_stamp_offset = - input->fields.at(static_cast(autoware_point_types::PointIndex::TimeStamp)).offset; + pcl::PointCloud::Ptr outlier_pcl(new pcl::PointCloud); + + const auto input_channel_offset = + input->fields.at(static_cast(InputPointIndex::Channel)).offset; + const auto input_azimuth_offset = + input->fields.at(static_cast(InputPointIndex::Azimuth)).offset; + const auto input_distance_offset = + input->fields.at(static_cast(InputPointIndex::Distance)).offset; + const auto input_intensity_offset = + input->fields.at(static_cast(InputPointIndex::Intensity)).offset; + const auto input_return_type_offset = + input->fields.at(static_cast(InputPointIndex::ReturnType)).offset; std::vector> ring2indices; ring2indices.reserve(max_rings_num_); @@ -107,7 +105,8 @@ void RingOutlierFilterComponent::faster_filter( } for (size_t data_idx = 0; data_idx < input->data.size(); data_idx += input->point_step) { - const uint16_t ring = *reinterpret_cast(&input->data[data_idx + ring_offset]); + const uint16_t ring = + *reinterpret_cast(&input->data[data_idx + input_channel_offset]); ring2indices[ring].push_back(data_idx); } @@ -129,30 +128,30 @@ void RingOutlierFilterComponent::faster_filter( // if(std::abs(iter->distance - (iter+1)->distance) <= std::sqrt(iter->distance) * 0.08) const float & current_azimuth = - *reinterpret_cast(&input->data[current_data_idx + azimuth_offset]); + *reinterpret_cast(&input->data[current_data_idx + input_azimuth_offset]); const float & next_azimuth = - *reinterpret_cast(&input->data[next_data_idx + azimuth_offset]); + *reinterpret_cast(&input->data[next_data_idx + input_azimuth_offset]); float azimuth_diff = next_azimuth - current_azimuth; - azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; + azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 2 * M_PI : azimuth_diff; const float & current_distance = - *reinterpret_cast(&input->data[current_data_idx + distance_offset]); + *reinterpret_cast(&input->data[current_data_idx + input_distance_offset]); const float & next_distance = - *reinterpret_cast(&input->data[next_data_idx + distance_offset]); + *reinterpret_cast(&input->data[next_data_idx + input_distance_offset]); if ( std::max(current_distance, next_distance) < std::min(current_distance, next_distance) * distance_ratio_ && - azimuth_diff < 100.f) { - continue; // Determined to be included in the same walk + azimuth_diff < 1.0 * (180.0 / M_PI)) { // one degree + continue; // Determined to be included in the same walk } if (isCluster( input, std::make_pair(indices[walk_first_idx], indices[walk_last_idx]), walk_last_idx - walk_first_idx + 1)) { for (int i = walk_first_idx; i <= walk_last_idx; i++) { - auto output_ptr = reinterpret_cast(&output.data[output_size]); - auto input_ptr = reinterpret_cast(&input->data[indices[i]]); + auto output_ptr = reinterpret_cast(&output.data[output_size]); + auto input_ptr = reinterpret_cast(&input->data[indices[i]]); if (transform_info.need_transform) { Eigen::Vector4f p(input_ptr->x, input_ptr->y, input_ptr->z, 1); @@ -161,41 +160,38 @@ void RingOutlierFilterComponent::faster_filter( output_ptr->y = p[1]; output_ptr->z = p[2]; } else { - *output_ptr = *input_ptr; + output_ptr->x = input_ptr->x; + output_ptr->y = input_ptr->y; + output_ptr->z = input_ptr->z; } - const float & intensity = - *reinterpret_cast(&input->data[indices[i] + intensity_offset]); + const std::uint8_t & intensity = *reinterpret_cast( + &input->data[indices[i] + input_intensity_offset]); output_ptr->intensity = intensity; + const std::uint8_t & return_type = *reinterpret_cast( + &input->data[indices[i] + input_return_type_offset]); + output_ptr->return_type = return_type; + + const std::uint8_t & channel = *reinterpret_cast( + &input->data[indices[i] + input_channel_offset]); + output_ptr->channel = channel; + output_size += output.point_step; } } else if (publish_outlier_pointcloud_) { for (int i = walk_first_idx; i <= walk_last_idx; i++) { - PointXYZIRADRT outlier_point; auto input_ptr = - reinterpret_cast(&input->data[indices[walk_first_idx]]); + reinterpret_cast(&input->data[indices[walk_first_idx]]); + InputPointType outlier_point = *input_ptr; + if (transform_info.need_transform) { Eigen::Vector4f p(input_ptr->x, input_ptr->y, input_ptr->z, 1); p = transform_info.eigen_transform * p; outlier_point.x = p[0]; outlier_point.y = p[1]; outlier_point.z = p[2]; - } else { - outlier_point = *input_ptr; } - outlier_point.intensity = *reinterpret_cast( - &input->data[indices[walk_first_idx] + intensity_offset]); - outlier_point.ring = *reinterpret_cast( - &input->data[indices[walk_first_idx] + ring_offset]); - outlier_point.azimuth = *reinterpret_cast( - &input->data[indices[walk_first_idx] + azimuth_offset]); - outlier_point.distance = *reinterpret_cast( - &input->data[indices[walk_first_idx] + distance_offset]); - outlier_point.return_type = *reinterpret_cast( - &input->data[indices[walk_first_idx] + return_type_offset]); - outlier_point.time_stamp = *reinterpret_cast( - &input->data[indices[walk_first_idx] + time_stamp_offset]); outlier_pcl->push_back(outlier_point); } } @@ -209,8 +205,8 @@ void RingOutlierFilterComponent::faster_filter( input, std::make_pair(indices[walk_first_idx], indices[walk_last_idx]), walk_last_idx - walk_first_idx + 1)) { for (int i = walk_first_idx; i <= walk_last_idx; i++) { - auto output_ptr = reinterpret_cast(&output.data[output_size]); - auto input_ptr = reinterpret_cast(&input->data[indices[i]]); + auto output_ptr = reinterpret_cast(&output.data[output_size]); + auto input_ptr = reinterpret_cast(&input->data[indices[i]]); if (transform_info.need_transform) { Eigen::Vector4f p(input_ptr->x, input_ptr->y, input_ptr->z, 1); @@ -219,46 +215,42 @@ void RingOutlierFilterComponent::faster_filter( output_ptr->y = p[1]; output_ptr->z = p[2]; } else { - *output_ptr = *input_ptr; + output_ptr->x = input_ptr->x; + output_ptr->y = input_ptr->y; + output_ptr->z = input_ptr->z; } const float & intensity = - *reinterpret_cast(&input->data[indices[i] + intensity_offset]); + *reinterpret_cast(&input->data[indices[i] + input_intensity_offset]); output_ptr->intensity = intensity; + const std::uint8_t & return_type = *reinterpret_cast( + &input->data[indices[i] + input_return_type_offset]); + output_ptr->return_type = return_type; + + const std::uint8_t & channel = + *reinterpret_cast(&input->data[indices[i] + input_channel_offset]); + output_ptr->channel = channel; + output_size += output.point_step; } } else if (publish_outlier_pointcloud_) { for (int i = walk_first_idx; i < walk_last_idx; i++) { - PointXYZIRADRT outlier_point; - - auto input_ptr = reinterpret_cast(&input->data[indices[i]]); + auto input_ptr = reinterpret_cast(&input->data[indices[i]]); + InputPointType outlier_point = *input_ptr; if (transform_info.need_transform) { Eigen::Vector4f p(input_ptr->x, input_ptr->y, input_ptr->z, 1); p = transform_info.eigen_transform * p; outlier_point.x = p[0]; outlier_point.y = p[1]; outlier_point.z = p[2]; - } else { - outlier_point = *input_ptr; } - outlier_point.intensity = - *reinterpret_cast(&input->data[indices[i] + intensity_offset]); - outlier_point.ring = - *reinterpret_cast(&input->data[indices[i] + ring_offset]); - outlier_point.azimuth = - *reinterpret_cast(&input->data[indices[i] + azimuth_offset]); - outlier_point.distance = - *reinterpret_cast(&input->data[indices[i] + distance_offset]); - outlier_point.return_type = - *reinterpret_cast(&input->data[indices[i] + return_type_offset]); - outlier_point.time_stamp = - *reinterpret_cast(&input->data[indices[i] + time_stamp_offset]); + outlier_pcl->push_back(outlier_point); } } } - setUpPointCloudFormat(input, output, output_size, /*num_fields=*/4); + setUpPointCloudFormat(input, output, output_size); if (publish_outlier_pointcloud_) { PointCloud2 outlier; @@ -348,8 +340,7 @@ rcl_interfaces::msg::SetParametersResult RingOutlierFilterComponent::paramCallba } void RingOutlierFilterComponent::setUpPointCloudFormat( - const PointCloud2ConstPtr & input, PointCloud2 & formatted_points, size_t points_size, - size_t num_fields) + const PointCloud2ConstPtr & input, PointCloud2 & formatted_points, size_t points_size) { formatted_points.data.resize(points_size); // Note that `input->header.frame_id` is data before converted when `transform_info.need_transform @@ -363,40 +354,40 @@ void RingOutlierFilterComponent::setUpPointCloudFormat( formatted_points.is_bigendian = input->is_bigendian; formatted_points.is_dense = input->is_dense; - sensor_msgs::PointCloud2Modifier pcd_modifier(formatted_points); - pcd_modifier.setPointCloud2Fields( - num_fields, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1, - sensor_msgs::msg::PointField::FLOAT32, "z", 1, sensor_msgs::msg::PointField::FLOAT32, - "intensity", 1, sensor_msgs::msg::PointField::FLOAT32); + // This is a hack to get the correct fields in the output point cloud without creating the fields + // manually + sensor_msgs::msg::PointCloud2 msg_aux; + pcl::toROSMsg(pcl::PointCloud(), msg_aux); + formatted_points.fields = msg_aux.fields; } float RingOutlierFilterComponent::calculateVisibilityScore( const sensor_msgs::msg::PointCloud2 & input) { - pcl::PointCloud::Ptr input_cloud(new pcl::PointCloud); + pcl::PointCloud::Ptr input_cloud(new pcl::PointCloud); pcl::fromROSMsg(input, *input_cloud); const uint32_t vertical_bins = vertical_bins_; const uint32_t horizontal_bins = horizontal_bins_; - const float max_azimuth = max_azimuth_deg_ * 100.0; - const float min_azimuth = min_azimuth_deg_ * 100.0; + const float max_azimuth = max_azimuth_deg_ * (M_PI / 180.f); + const float min_azimuth = min_azimuth_deg_ * (M_PI / 180.f); const uint32_t horizontal_resolution = static_cast((max_azimuth - min_azimuth) / horizontal_bins); - std::vector> ring_point_clouds(vertical_bins); + std::vector> ring_point_clouds(vertical_bins); cv::Mat frequency_image(cv::Size(horizontal_bins, vertical_bins), CV_8UC1, cv::Scalar(0)); // Split points into rings for (const auto & point : input_cloud->points) { - ring_point_clouds.at(point.ring).push_back(point); + ring_point_clouds.at(point.channel).push_back(point); } // Calculate frequency for each bin in each ring for (const auto & ring_points : ring_point_clouds) { if (ring_points.empty()) continue; - const uint ring_id = ring_points.front().ring; + const uint ring_id = ring_points.front().channel; std::vector frequency_in_ring(horizontal_bins, 0); for (const auto & point : ring_points.points) { diff --git a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp index a2e70d0f7ead9..7816e9d4b325a 100644 --- a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp @@ -430,39 +430,56 @@ void PointCloudDataSynchronizerComponent::publish() } /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PointCloudDataSynchronizerComponent::convertToXYZICloud( +void PointCloudDataSynchronizerComponent::convertToXYZIRCCloud( const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr) { output_ptr->header = input_ptr->header; - PointCloud2Modifier output_modifier{*output_ptr, input_ptr->header.frame_id}; + + PointCloud2Modifier output_modifier{ + *output_ptr, input_ptr->header.frame_id}; output_modifier.reserve(input_ptr->width); - bool has_intensity = std::any_of( - input_ptr->fields.begin(), input_ptr->fields.end(), - [](auto & field) { return field.name == "intensity"; }); + bool has_valid_intensity = + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + return field.name == "intensity" && field.datatype == sensor_msgs::msg::PointField::UINT8; + }); + + bool has_valid_return_type = + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + return field.name == "return_type" && field.datatype == sensor_msgs::msg::PointField::UINT8; + }); + + bool has_valid_channel = + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + return field.name == "channel" && field.datatype == sensor_msgs::msg::PointField::UINT16; + }); sensor_msgs::PointCloud2Iterator it_x(*input_ptr, "x"); sensor_msgs::PointCloud2Iterator it_y(*input_ptr, "y"); sensor_msgs::PointCloud2Iterator it_z(*input_ptr, "z"); - if (has_intensity) { - sensor_msgs::PointCloud2Iterator it_i(*input_ptr, "intensity"); - for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_i) { - PointXYZI point; + if (has_valid_intensity && has_valid_return_type && has_valid_channel) { + sensor_msgs::PointCloud2Iterator it_i(*input_ptr, "intensity"); + sensor_msgs::PointCloud2Iterator it_r(*input_ptr, "return_type"); + sensor_msgs::PointCloud2Iterator it_c(*input_ptr, "channel"); + + for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_i, ++it_r, ++it_c) { + PointXYZIRC point; point.x = *it_x; point.y = *it_y; point.z = *it_z; point.intensity = *it_i; + point.return_type = *it_r; + point.channel = *it_c; output_modifier.push_back(std::move(point)); } } else { for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z) { - PointXYZI point; + PointXYZIRC point; point.x = *it_x; point.y = *it_y; point.z = *it_z; - point.intensity = 0.0f; output_modifier.push_back(std::move(point)); } } @@ -489,9 +506,9 @@ void PointCloudDataSynchronizerComponent::cloud_callback( { std::lock_guard lock(mutex_); auto input = std::make_shared(*input_ptr); - sensor_msgs::msg::PointCloud2::SharedPtr xyzi_input_ptr(new sensor_msgs::msg::PointCloud2()); + sensor_msgs::msg::PointCloud2::SharedPtr xyzirc_input_ptr(new sensor_msgs::msg::PointCloud2()); if (input->data.size() > 0) { - convertToXYZICloud(input, xyzi_input_ptr); + convertToXYZIRCCloud(input, xyzirc_input_ptr); } const bool is_already_subscribed_this = (cloud_stdmap_[topic_name] != nullptr); @@ -500,7 +517,7 @@ void PointCloudDataSynchronizerComponent::cloud_callback( [](const auto & e) { return e.second != nullptr; }); if (is_already_subscribed_this) { - cloud_stdmap_tmp_[topic_name] = xyzi_input_ptr; + cloud_stdmap_tmp_[topic_name] = xyzirc_input_ptr; if (!is_already_subscribed_tmp) { auto period = std::chrono::duration_cast( @@ -513,7 +530,7 @@ void PointCloudDataSynchronizerComponent::cloud_callback( timer_->reset(); } } else { - cloud_stdmap_[topic_name] = xyzi_input_ptr; + cloud_stdmap_[topic_name] = xyzirc_input_ptr; const bool is_subscribed_all = std::all_of( std::begin(cloud_stdmap_), std::end(cloud_stdmap_), diff --git a/sensing/pointcloud_preprocessor/src/utility/utilities.cpp b/sensing/pointcloud_preprocessor/src/utility/geometry.cpp similarity index 52% rename from sensing/pointcloud_preprocessor/src/utility/utilities.cpp rename to sensing/pointcloud_preprocessor/src/utility/geometry.cpp index ec84a2467db78..e3013d05d925f 100644 --- a/sensing/pointcloud_preprocessor/src/utility/utilities.cpp +++ b/sensing/pointcloud_preprocessor/src/utility/geometry.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,9 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pointcloud_preprocessor/utility/utilities.hpp" - -#include +#include "pointcloud_preprocessor/utility/geometry.hpp" namespace pointcloud_preprocessor::utils { @@ -157,91 +155,4 @@ bool point_within_cgal_polys( return false; } -bool is_data_layout_compatible_with_PointXYZI(const sensor_msgs::msg::PointCloud2 & input) -{ - using autoware_point_types::PointIndex; - using autoware_point_types::PointXYZI; - if (input.fields.size() < 4) { - return false; - } - bool same_layout = true; - const auto & field_x = input.fields.at(static_cast(PointIndex::X)); - same_layout &= field_x.name == "x"; - same_layout &= field_x.offset == offsetof(PointXYZI, x); - same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_x.count == 1; - const auto & field_y = input.fields.at(static_cast(PointIndex::Y)); - same_layout &= field_y.name == "y"; - same_layout &= field_y.offset == offsetof(PointXYZI, y); - same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_y.count == 1; - const auto & field_z = input.fields.at(static_cast(PointIndex::Z)); - same_layout &= field_z.name == "z"; - same_layout &= field_z.offset == offsetof(PointXYZI, z); - same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_z.count == 1; - const auto & field_intensity = input.fields.at(static_cast(PointIndex::Intensity)); - same_layout &= field_intensity.name == "intensity"; - same_layout &= field_intensity.offset == offsetof(PointXYZI, intensity); - same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_intensity.count == 1; - return same_layout; -} - -bool is_data_layout_compatible_with_PointXYZIRADRT(const sensor_msgs::msg::PointCloud2 & input) -{ - using autoware_point_types::PointIndex; - using autoware_point_types::PointXYZIRADRT; - if (input.fields.size() < 9) { - return false; - } - bool same_layout = true; - const auto & field_x = input.fields.at(static_cast(PointIndex::X)); - same_layout &= field_x.name == "x"; - same_layout &= field_x.offset == offsetof(PointXYZIRADRT, x); - same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_x.count == 1; - const auto & field_y = input.fields.at(static_cast(PointIndex::Y)); - same_layout &= field_y.name == "y"; - same_layout &= field_y.offset == offsetof(PointXYZIRADRT, y); - same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_y.count == 1; - const auto & field_z = input.fields.at(static_cast(PointIndex::Z)); - same_layout &= field_z.name == "z"; - same_layout &= field_z.offset == offsetof(PointXYZIRADRT, z); - same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_z.count == 1; - const auto & field_intensity = input.fields.at(static_cast(PointIndex::Intensity)); - same_layout &= field_intensity.name == "intensity"; - same_layout &= field_intensity.offset == offsetof(PointXYZIRADRT, intensity); - same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_intensity.count == 1; - const auto & field_ring = input.fields.at(static_cast(PointIndex::Ring)); - same_layout &= field_ring.name == "ring"; - same_layout &= field_ring.offset == offsetof(PointXYZIRADRT, ring); - same_layout &= field_ring.datatype == sensor_msgs::msg::PointField::UINT16; - same_layout &= field_ring.count == 1; - const auto & field_azimuth = input.fields.at(static_cast(PointIndex::Azimuth)); - same_layout &= field_azimuth.name == "azimuth"; - same_layout &= field_azimuth.offset == offsetof(PointXYZIRADRT, azimuth); - same_layout &= field_azimuth.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_azimuth.count == 1; - const auto & field_distance = input.fields.at(static_cast(PointIndex::Distance)); - same_layout &= field_distance.name == "distance"; - same_layout &= field_distance.offset == offsetof(PointXYZIRADRT, distance); - same_layout &= field_distance.datatype == sensor_msgs::msg::PointField::FLOAT32; - same_layout &= field_distance.count == 1; - const auto & field_return_type = input.fields.at(static_cast(PointIndex::ReturnType)); - same_layout &= field_return_type.name == "return_type"; - same_layout &= field_return_type.offset == offsetof(PointXYZIRADRT, return_type); - same_layout &= field_return_type.datatype == sensor_msgs::msg::PointField::UINT8; - same_layout &= field_return_type.count == 1; - const auto & field_time_stamp = input.fields.at(static_cast(PointIndex::TimeStamp)); - same_layout &= field_time_stamp.name == "time_stamp"; - same_layout &= field_time_stamp.offset == offsetof(PointXYZIRADRT, time_stamp); - same_layout &= field_time_stamp.datatype == sensor_msgs::msg::PointField::FLOAT64; - same_layout &= field_time_stamp.count == 1; - return same_layout; -} - } // namespace pointcloud_preprocessor::utils diff --git a/sensing/pointcloud_preprocessor/src/utility/memory.cpp b/sensing/pointcloud_preprocessor/src/utility/memory.cpp new file mode 100644 index 0000000000000..138573a2014ff --- /dev/null +++ b/sensing/pointcloud_preprocessor/src/utility/memory.cpp @@ -0,0 +1,211 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "pointcloud_preprocessor/utility/memory.hpp" + +#include + +namespace pointcloud_preprocessor::utils +{ +bool is_data_layout_compatible_with_point_xyzi(const sensor_msgs::msg::PointCloud2 & input) +{ + using PointIndex = autoware_point_types::PointXYZIIndex; + using autoware_point_types::PointXYZI; + if (input.fields.size() < 4) { + return false; + } + bool same_layout = true; + const auto & field_x = input.fields.at(static_cast(PointIndex::X)); + same_layout &= field_x.name == "x"; + same_layout &= field_x.offset == offsetof(PointXYZI, x); + same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_x.count == 1; + const auto & field_y = input.fields.at(static_cast(PointIndex::Y)); + same_layout &= field_y.name == "y"; + same_layout &= field_y.offset == offsetof(PointXYZI, y); + same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_y.count == 1; + const auto & field_z = input.fields.at(static_cast(PointIndex::Z)); + same_layout &= field_z.name == "z"; + same_layout &= field_z.offset == offsetof(PointXYZI, z); + same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_z.count == 1; + const auto & field_intensity = input.fields.at(static_cast(PointIndex::Intensity)); + same_layout &= field_intensity.name == "intensity"; + same_layout &= field_intensity.offset == offsetof(PointXYZI, intensity); + same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_intensity.count == 1; + return same_layout; +} + +bool is_data_layout_compatible_with_point_xyzirc(const sensor_msgs::msg::PointCloud2 & input) +{ + using PointIndex = autoware_point_types::PointXYZIRCIndex; + using autoware_point_types::PointXYZIRC; + if (input.fields.size() < 6) { + return false; + } + bool same_layout = true; + const auto & field_x = input.fields.at(static_cast(PointIndex::X)); + same_layout &= field_x.name == "x"; + same_layout &= field_x.offset == offsetof(PointXYZIRC, x); + same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_x.count == 1; + const auto & field_y = input.fields.at(static_cast(PointIndex::Y)); + same_layout &= field_y.name == "y"; + same_layout &= field_y.offset == offsetof(PointXYZIRC, y); + same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_y.count == 1; + const auto & field_z = input.fields.at(static_cast(PointIndex::Z)); + same_layout &= field_z.name == "z"; + same_layout &= field_z.offset == offsetof(PointXYZIRC, z); + same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_z.count == 1; + const auto & field_intensity = input.fields.at(static_cast(PointIndex::Intensity)); + same_layout &= field_intensity.name == "intensity"; + same_layout &= field_intensity.offset == offsetof(PointXYZIRC, intensity); + same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::UINT8; + same_layout &= field_intensity.count == 1; + const auto & field_return_type = input.fields.at(static_cast(PointIndex::ReturnType)); + same_layout &= field_return_type.name == "return_type"; + same_layout &= field_return_type.offset == offsetof(PointXYZIRC, return_type); + same_layout &= field_return_type.datatype == sensor_msgs::msg::PointField::UINT8; + same_layout &= field_return_type.count == 1; + const auto & field_ring = input.fields.at(static_cast(PointIndex::Channel)); + same_layout &= field_ring.name == "channel"; + same_layout &= field_ring.offset == offsetof(PointXYZIRC, channel); + same_layout &= field_ring.datatype == sensor_msgs::msg::PointField::UINT16; + same_layout &= field_ring.count == 1; + + return same_layout; +} + +bool is_data_layout_compatible_with_point_xyziradrt(const sensor_msgs::msg::PointCloud2 & input) +{ + using PointIndex = autoware_point_types::PointXYZIRADRTIndex; + using autoware_point_types::PointXYZIRADRT; + if (input.fields.size() < 9) { + return false; + } + bool same_layout = true; + const auto & field_x = input.fields.at(static_cast(PointIndex::X)); + same_layout &= field_x.name == "x"; + same_layout &= field_x.offset == offsetof(PointXYZIRADRT, x); + same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_x.count == 1; + const auto & field_y = input.fields.at(static_cast(PointIndex::Y)); + same_layout &= field_y.name == "y"; + same_layout &= field_y.offset == offsetof(PointXYZIRADRT, y); + same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_y.count == 1; + const auto & field_z = input.fields.at(static_cast(PointIndex::Z)); + same_layout &= field_z.name == "z"; + same_layout &= field_z.offset == offsetof(PointXYZIRADRT, z); + same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_z.count == 1; + const auto & field_intensity = input.fields.at(static_cast(PointIndex::Intensity)); + same_layout &= field_intensity.name == "intensity"; + same_layout &= field_intensity.offset == offsetof(PointXYZIRADRT, intensity); + same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_intensity.count == 1; + const auto & field_ring = input.fields.at(static_cast(PointIndex::Ring)); + same_layout &= field_ring.name == "ring"; + same_layout &= field_ring.offset == offsetof(PointXYZIRADRT, ring); + same_layout &= field_ring.datatype == sensor_msgs::msg::PointField::UINT16; + same_layout &= field_ring.count == 1; + const auto & field_azimuth = input.fields.at(static_cast(PointIndex::Azimuth)); + same_layout &= field_azimuth.name == "azimuth"; + same_layout &= field_azimuth.offset == offsetof(PointXYZIRADRT, azimuth); + same_layout &= field_azimuth.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_azimuth.count == 1; + const auto & field_distance = input.fields.at(static_cast(PointIndex::Distance)); + same_layout &= field_distance.name == "distance"; + same_layout &= field_distance.offset == offsetof(PointXYZIRADRT, distance); + same_layout &= field_distance.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_distance.count == 1; + const auto & field_return_type = input.fields.at(static_cast(PointIndex::ReturnType)); + same_layout &= field_return_type.name == "return_type"; + same_layout &= field_return_type.offset == offsetof(PointXYZIRADRT, return_type); + same_layout &= field_return_type.datatype == sensor_msgs::msg::PointField::UINT8; + same_layout &= field_return_type.count == 1; + const auto & field_time_stamp = input.fields.at(static_cast(PointIndex::TimeStamp)); + same_layout &= field_time_stamp.name == "time_stamp"; + same_layout &= field_time_stamp.offset == offsetof(PointXYZIRADRT, time_stamp); + same_layout &= field_time_stamp.datatype == sensor_msgs::msg::PointField::FLOAT64; + same_layout &= field_time_stamp.count == 1; + return same_layout; +} + +bool is_data_layout_compatible_with_point_xyzircaedt(const sensor_msgs::msg::PointCloud2 & input) +{ + using PointIndex = autoware_point_types::PointXYZIRCAEDTIndex; + using autoware_point_types::PointXYZIRCAEDT; + if (input.fields.size() != 10) { + return false; + } + bool same_layout = true; + const auto & field_x = input.fields.at(static_cast(PointIndex::X)); + same_layout &= field_x.name == "x"; + same_layout &= field_x.offset == offsetof(PointXYZIRCAEDT, x); + same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_x.count == 1; + const auto & field_y = input.fields.at(static_cast(PointIndex::Y)); + same_layout &= field_y.name == "y"; + same_layout &= field_y.offset == offsetof(PointXYZIRCAEDT, y); + same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_y.count == 1; + const auto & field_z = input.fields.at(static_cast(PointIndex::Z)); + same_layout &= field_z.name == "z"; + same_layout &= field_z.offset == offsetof(PointXYZIRCAEDT, z); + same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_z.count == 1; + const auto & field_intensity = input.fields.at(static_cast(PointIndex::Intensity)); + same_layout &= field_intensity.name == "intensity"; + same_layout &= field_intensity.offset == offsetof(PointXYZIRCAEDT, intensity); + same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::UINT8; + same_layout &= field_intensity.count == 1; + const auto & field_return_type = input.fields.at(static_cast(PointIndex::ReturnType)); + same_layout &= field_return_type.name == "return_type"; + same_layout &= field_return_type.offset == offsetof(PointXYZIRCAEDT, return_type); + same_layout &= field_return_type.datatype == sensor_msgs::msg::PointField::UINT8; + same_layout &= field_return_type.count == 1; + const auto & field_ring = input.fields.at(static_cast(PointIndex::Channel)); + same_layout &= field_ring.name == "channel"; + same_layout &= field_ring.offset == offsetof(PointXYZIRCAEDT, channel); + same_layout &= field_ring.datatype == sensor_msgs::msg::PointField::UINT16; + same_layout &= field_ring.count == 1; + const auto & field_azimuth = input.fields.at(static_cast(PointIndex::Azimuth)); + same_layout &= field_azimuth.name == "azimuth"; + same_layout &= field_azimuth.offset == offsetof(PointXYZIRCAEDT, azimuth); + same_layout &= field_azimuth.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_azimuth.count == 1; + const auto & field_elevation = input.fields.at(static_cast(PointIndex::Elevation)); + same_layout &= field_elevation.name == "elevation"; + same_layout &= field_elevation.offset == offsetof(PointXYZIRCAEDT, elevation); + same_layout &= field_elevation.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_elevation.count == 1; + const auto & field_distance = input.fields.at(static_cast(PointIndex::Distance)); + same_layout &= field_distance.name == "distance"; + same_layout &= field_distance.offset == offsetof(PointXYZIRCAEDT, distance); + same_layout &= field_distance.datatype == sensor_msgs::msg::PointField::FLOAT32; + same_layout &= field_distance.count == 1; + const auto & field_time_stamp = input.fields.at(static_cast(PointIndex::TimeStamp)); + same_layout &= field_time_stamp.name == "time_stamp"; + same_layout &= field_time_stamp.offset == offsetof(PointXYZIRCAEDT, time_stamp); + same_layout &= field_time_stamp.datatype == sensor_msgs::msg::PointField::UINT32; + same_layout &= field_time_stamp.count == 1; + return same_layout; +} + +} // namespace pointcloud_preprocessor::utils diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp index 7997aaf43c202..3b500bfb3e982 100644 --- a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp +++ b/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -58,7 +58,7 @@ class DistortionCorrectorTest : public ::testing::Test // Spin the node for a while to ensure transforms are published auto start = std::chrono::steady_clock::now(); - auto timeout = std::chrono::seconds(1); + auto timeout = std::chrono::milliseconds(100); while (std::chrono::steady_clock::now() - start < timeout) { rclcpp::spin_some(node_); std::this_thread::sleep_for(std::chrono::milliseconds(10)); @@ -194,19 +194,24 @@ class DistortionCorrectorTest : public ::testing::Test }}; // Generate timestamps for the points - std::vector timestamps = generatePointTimestamps(stamp, number_of_points_); + std::vector timestamps = generatePointTimestamps(stamp, number_of_points_); sensor_msgs::PointCloud2Modifier modifier(pointcloud_msg); modifier.setPointCloud2Fields( - 4, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1, + 10, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1, sensor_msgs::msg::PointField::FLOAT32, "z", 1, sensor_msgs::msg::PointField::FLOAT32, - "time_stamp", 1, sensor_msgs::msg::PointField::FLOAT64); + "intensity", 1, sensor_msgs::msg::PointField::UINT8, "return_type", 1, + sensor_msgs::msg::PointField::UINT8, "channel", 1, sensor_msgs::msg::PointField::UINT16, + "azimuth", 1, sensor_msgs::msg::PointField::FLOAT32, "elevation", 1, + sensor_msgs::msg::PointField::FLOAT32, "distance", 1, sensor_msgs::msg::PointField::FLOAT32, + "time_stamp", 1, sensor_msgs::msg::PointField::UINT32); + modifier.resize(number_of_points_); sensor_msgs::PointCloud2Iterator iter_x(pointcloud_msg, "x"); sensor_msgs::PointCloud2Iterator iter_y(pointcloud_msg, "y"); sensor_msgs::PointCloud2Iterator iter_z(pointcloud_msg, "z"); - sensor_msgs::PointCloud2Iterator iter_t(pointcloud_msg, "time_stamp"); + sensor_msgs::PointCloud2Iterator iter_t(pointcloud_msg, "time_stamp"); for (size_t i = 0; i < number_of_points_; ++i) { *iter_x = points[i].x(); @@ -226,15 +231,15 @@ class DistortionCorrectorTest : public ::testing::Test return pointcloud_msg; } - std::vector generatePointTimestamps( + std::vector generatePointTimestamps( rclcpp::Time pointcloud_timestamp, size_t number_of_points) { - std::vector timestamps; - rclcpp::Time point_stamp = pointcloud_timestamp; + std::vector timestamps; + rclcpp::Time global_point_stamp = pointcloud_timestamp; for (size_t i = 0; i < number_of_points; ++i) { - double timestamp = point_stamp.seconds(); - timestamps.push_back(timestamp); - point_stamp = addMilliseconds(point_stamp, points_interval_ms_); + std::uint32_t relative_timestamp = (global_point_stamp - pointcloud_timestamp).nanoseconds(); + timestamps.push_back(relative_timestamp); + global_point_stamp = addMilliseconds(global_point_stamp, points_interval_ms_); } return timestamps; @@ -735,11 +740,11 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureLinearMotion) sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud_msg, "x"); sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud_msg, "y"); sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud_msg, "z"); - sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); + sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); std::vector expected_points; for (; iter_t != iter_t.end(); ++iter_t, ++iter_x, ++iter_y, ++iter_z) { - double time_offset = *iter_t - timestamp.seconds(); + double time_offset = static_cast(*iter_t) / 1e9; expected_points.emplace_back( *iter_x + static_cast(velocity * time_offset), *iter_y, *iter_z); } @@ -822,11 +827,11 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud_msg, "x"); sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud_msg, "y"); sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud_msg, "z"); - sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); + sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); std::vector expected_pointcloud; for (; iter_t != iter_t.end(); ++iter_t, ++iter_x, ++iter_y, ++iter_z) { - double time_offset = *iter_t - timestamp.seconds(); + double time_offset = static_cast(*iter_t) / 1e9; float angle = angular_velocity * time_offset; // Set the quaternion for the current angle diff --git a/sensing/pointcloud_preprocessor/test/test_utilities.cpp b/sensing/pointcloud_preprocessor/test/test_utilities.cpp index 68c86dfbd0505..e3075b4b11e79 100644 --- a/sensing/pointcloud_preprocessor/test/test_utilities.cpp +++ b/sensing/pointcloud_preprocessor/test/test_utilities.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pointcloud_preprocessor/utility/utilities.hpp" +#include "pointcloud_preprocessor/utility/geometry.hpp" #include From fd5f5edca752cee7f5f3418dda1c0a7ea635541d Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 9 Jul 2024 22:43:00 +0900 Subject: [PATCH 117/306] feat(map_loader, route_handler)!: add format_version validation (#7074) Signed-off-by: Mamoru Sobue Co-authored-by: Yamato Ando --- .../config/lanelet2_map_loader.param.yaml | 1 + .../map_loader/lanelet2_map_loader_node.hpp | 4 +++ .../schema/lanelet2_map_loader.schema.json | 5 +++ .../lanelet2_map_loader_node.cpp | 32 +++++++++++++++++++ .../test/lanelet2_map_loader_launch.test.py | 1 + .../src/route_handler.cpp | 11 +++++++ 6 files changed, 54 insertions(+) diff --git a/map/map_loader/config/lanelet2_map_loader.param.yaml b/map/map_loader/config/lanelet2_map_loader.param.yaml index 48152605ec0a2..48d392a1b8e66 100755 --- a/map/map_loader/config/lanelet2_map_loader.param.yaml +++ b/map/map_loader/config/lanelet2_map_loader.param.yaml @@ -1,5 +1,6 @@ /**: ros__parameters: + allow_unsupported_version: true # flag to load unsupported format_version anyway. If true, just prints warning. center_line_resolution: 5.0 # [m] use_waypoints: true # "centerline" in the Lanelet2 map will be used as a "waypoints" tag. lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp index 8bfdbc5d5560c..e38d65201ee56 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp @@ -15,6 +15,7 @@ #ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ #define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#include #include #include #include @@ -29,6 +30,9 @@ class Lanelet2MapLoaderNode : public rclcpp::Node { +public: + static constexpr lanelet::autoware::Version version = lanelet::autoware::version; + public: explicit Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options); diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/map_loader/schema/lanelet2_map_loader.schema.json index aae295f847ab2..a55050e4ed570 100644 --- a/map/map_loader/schema/lanelet2_map_loader.schema.json +++ b/map/map_loader/schema/lanelet2_map_loader.schema.json @@ -6,6 +6,11 @@ "lanelet2_map_loader": { "type": "object", "properties": { + "allow_unsupported_version": { + "type": "boolean", + "description": "Flag to load unsupported format_version anyway. If true, just prints warning.", + "default": "true" + }, "center_line_resolution": { "type": "number", "description": "Resolution of the Lanelet center line [m]", diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index e2b2a052619e4..437c9e44cb7c1 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -49,6 +49,7 @@ #include #include +#include #include using autoware_map_msgs::msg::LaneletMapBin; @@ -64,6 +65,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options sub_map_projector_info_, [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { on_map_projector_info(msg); }); + declare_parameter("allow_unsupported_version"); declare_parameter("lanelet2_map_path"); declare_parameter("center_line_resolution"); declare_parameter("use_waypoints"); @@ -72,6 +74,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options void Lanelet2MapLoaderNode::on_map_projector_info( const MapProjectorInfo::Message::ConstSharedPtr msg) { + const auto allow_unsupported_version = get_parameter("allow_unsupported_version").as_bool(); const auto lanelet2_filename = get_parameter("lanelet2_map_path").as_string(); const auto center_line_resolution = get_parameter("center_line_resolution").as_double(); const auto use_waypoints = get_parameter("use_waypoints").as_bool(); @@ -83,6 +86,35 @@ void Lanelet2MapLoaderNode::on_map_projector_info( return; } + std::string format_version{"null"}, map_version{""}; + lanelet::io_handlers::AutowareOsmParser::parseVersions( + lanelet2_filename, &format_version, &map_version); + if (format_version == "null" || format_version.empty() || !isdigit(format_version[0])) { + RCLCPP_WARN( + get_logger(), + "%s has no format_version(null) or non semver-style format_version(%s) information", + lanelet2_filename.c_str(), format_version.c_str()); + if (!allow_unsupported_version) { + throw std::invalid_argument( + "allow_unsupported_version is false, so stop loading lanelet map"); + } + } else if (const auto map_major_ver_opt = lanelet::io_handlers::parseMajorVersion(format_version); + map_major_ver_opt.has_value()) { + const auto map_major_ver = map_major_ver_opt.value(); + if (map_major_ver > static_cast(lanelet::autoware::version)) { + RCLCPP_WARN( + get_logger(), + "format_version(%ld) of the provided map(%s) is larger than the supported version(%ld)", + map_major_ver, lanelet2_filename.c_str(), + static_cast(lanelet::autoware::version)); + if (!allow_unsupported_version) { + throw std::invalid_argument( + "allow_unsupported_version is false, so stop loading lanelet map"); + } + } + } + RCLCPP_INFO(get_logger(), "Loaded map format_version: %s", format_version.c_str()); + // overwrite centerline if (use_waypoints) { lanelet::utils::overwriteLaneletsCenterlineWithWaypoints(map, center_line_resolution, false); diff --git a/map/map_loader/test/lanelet2_map_loader_launch.test.py b/map/map_loader/test/lanelet2_map_loader_launch.test.py index 9f9a59f565e3f..0a29a74e90b06 100644 --- a/map/map_loader/test/lanelet2_map_loader_launch.test.py +++ b/map/map_loader/test/lanelet2_map_loader_launch.test.py @@ -39,6 +39,7 @@ def generate_test_description(): "lanelet2_map_path": lanelet2_map_path, "center_line_resolution": 5.0, "use_waypoints": True, + "allow_unsupported_version": True, } ], ) diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp index 0540fb1758802..9811f982f8e1b 100644 --- a/planning/autoware_route_handler/src/route_handler.cpp +++ b/planning/autoware_route_handler/src/route_handler.cpp @@ -15,6 +15,7 @@ #include "autoware/route_handler/route_handler.hpp" #include +#include #include #include #include @@ -186,6 +187,16 @@ void RouteHandler::setMap(const LaneletMapBin & map_msg) lanelet_map_ptr_ = std::make_shared(); lanelet::utils::conversion::fromBinMsg( map_msg, lanelet_map_ptr_, &traffic_rules_ptr_, &routing_graph_ptr_); + const auto map_major_version_opt = + lanelet::io_handlers::parseMajorVersion(map_msg.version_map_format); + if (!map_major_version_opt) { + RCLCPP_WARN( + logger_, "setMap() for invalid version map: %s", map_msg.version_map_format.c_str()); + } else if (map_major_version_opt.value() > static_cast(lanelet::autoware::version)) { + RCLCPP_WARN( + logger_, "setMap() for a map(version %s) newer than lanelet2_extension support version(%d)", + map_msg.version_map_format.c_str(), static_cast(lanelet::autoware::version)); + } const auto traffic_rules = lanelet::traffic_rules::TrafficRulesFactory::create( lanelet::Locations::Germany, lanelet::Participants::Vehicle); From 9bb01d7ca1e81f39945e219f6705d27a47b0424f Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Tue, 9 Jul 2024 23:27:18 +0900 Subject: [PATCH 118/306] chore: add missing dependency (#7919) add raindrop_cluster_filter dependency --- launch/tier4_perception_launch/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 5c15a937304ad..592ef7cf01f86 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -38,6 +38,7 @@ radar_fusion_to_detected_object radar_object_clustering radar_object_tracker + raindrop_cluster_filter shape_estimation topic_tools tracking_object_merger From a7c3c4bfd780cb32ab26703f21aa8e759d6afbde Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 10 Jul 2024 08:13:26 +0900 Subject: [PATCH 119/306] fix(static_obstacle_avoidance): stop position is unstable (#7880) fix(static_obstacle_avoidance): fix stop position Signed-off-by: satoshi-ota --- .../src/scene.cpp | 6 +- .../debug.hpp | 2 + .../scene.hpp | 6 + .../utils.hpp | 11 +- .../src/debug.cpp | 17 +++ .../src/scene.cpp | 46 ++++--- .../src/utils.cpp | 117 +++++++++--------- 7 files changed, 119 insertions(+), 86 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp index 303d7449e40dd..501554b0a2b02 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp @@ -113,10 +113,8 @@ void AvoidanceByLaneChange::updateSpecialData() : Direction::RIGHT; } - utils::static_obstacle_avoidance::updateRegisteredObject( - registered_objects_, avoidance_data_.target_objects, p); - utils::static_obstacle_avoidance::compensateDetectionLost( - registered_objects_, avoidance_data_.target_objects, avoidance_data_.other_objects); + utils::static_obstacle_avoidance::compensateLostTargetObjects( + registered_objects_, avoidance_data_, clock_.now(), planner_data_, p); std::sort( avoidance_data_.target_objects.begin(), avoidance_data_.target_objects.end(), diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp index 316501fbbd37f..63985e574f3b2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp @@ -47,6 +47,8 @@ MarkerArray createTargetObjectsMarkerArray(const ObjectDataArray & objects, cons MarkerArray createOtherObjectsMarkerArray( const ObjectDataArray & objects, const ObjectInfo & info, const bool verbose); +MarkerArray createStopTargetObjectMarkerArray(const AvoidancePlanningData & data); + MarkerArray createDebugMarkerArray( const AvoidancePlanningData & data, const PathShifter & shifter, const DebugData & debug, const std::shared_ptr & parameters); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp index 635edb7c84f40..34d06a46d9ac8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp @@ -266,6 +266,12 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface */ void fillAvoidanceTargetObjects(AvoidancePlanningData & data, DebugData & debug) const; + /** + * @brief fill additional data which are necessary to plan avoidance path/velocity. + * @param avoidance target objects. + */ + void fillAvoidanceTargetData(ObjectDataArray & objects) const; + /** * @brief fill candidate shift lines. * @param avoidance data. diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp index 3797fe0d55147..a3b1b7e10b885 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp @@ -118,15 +118,12 @@ void fillObjectStoppableJudge( ObjectData & object_data, const ObjectDataArray & registered_objects, const double feasible_stop_distance, const std::shared_ptr & parameters); -void updateRegisteredObject( - ObjectDataArray & registered_objects, const ObjectDataArray & now_objects, - const std::shared_ptr & parameters); - void updateClipObject(ObjectDataArray & clip_objects, AvoidancePlanningData & data); -void compensateDetectionLost( - const ObjectDataArray & registered_objects, ObjectDataArray & now_objects, - ObjectDataArray & other_objects); +void compensateLostTargetObjects( + ObjectDataArray & stored_objects, AvoidancePlanningData & data, const rclcpp::Time & now, + const std::shared_ptr & planner_data, + const std::shared_ptr & parameters); void filterTargetObjects( ObjectDataArray & objects, AvoidancePlanningData & data, const double forward_detection_range, diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp index eb0d903f2e398..e1f8bd4ad2734 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp @@ -466,6 +466,23 @@ MarkerArray createOtherObjectsMarkerArray( return msg; } +MarkerArray createStopTargetObjectMarkerArray(const AvoidancePlanningData & data) +{ + MarkerArray msg; + + if (!data.stop_target_object.has_value()) { + return msg; + } + + appendMarkerArray( + createObjectsCubeMarkerArray( + {data.stop_target_object.value()}, "stop_target", createMarkerScale(3.4, 1.9, 1.9), + createMarkerColor(1.0, 0.0, 0.42, 0.5)), + &msg); + + return msg; +} + MarkerArray createDrivableBounds( const AvoidancePlanningData & data, std::string && ns, const float & r, const float & g, const float & b) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index b0e7d68c75d44..641ae9547b712 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -286,16 +286,22 @@ void StaticObstacleAvoidanceModule::fillFundamentalData( data.to_start_point = utils::static_obstacle_avoidance::calcDistanceToAvoidStartLine( data.current_lanelets, data.reference_path_rough, planner_data_, parameters_); - // target objects for avoidance + // filter only for the latest detected objects. fillAvoidanceTargetObjects(data, debug); - // lost object compensation - utils::static_obstacle_avoidance::updateRegisteredObject( - registered_objects_, data.target_objects, parameters_); - utils::static_obstacle_avoidance::compensateDetectionLost( - registered_objects_, data.target_objects, data.other_objects); + // compensate lost object which was avoidance target. if the time hasn't passed more than + // threshold since perception module lost the target yet, this module keeps it as avoidance + // target. + utils::static_obstacle_avoidance::compensateLostTargetObjects( + registered_objects_, data, clock_->now(), planner_data_, parameters_); + + // once an object filtered for boundary clipping, this module keeps the information until the end + // of execution. utils::static_obstacle_avoidance::updateClipObject(clip_objects_, data); + // calculate various data for each target objects. + fillAvoidanceTargetData(data.target_objects); + // sort object order by longitudinal distance std::sort(data.target_objects.begin(), data.target_objects.end(), [](auto a, auto b) { return a.longitudinal < b.longitudinal; @@ -308,8 +314,6 @@ void StaticObstacleAvoidanceModule::fillFundamentalData( void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects( AvoidancePlanningData & data, DebugData & debug) const { - using utils::static_obstacle_avoidance::fillAvoidanceNecessity; - using utils::static_obstacle_avoidance::fillObjectStoppableJudge; using utils::static_obstacle_avoidance::filterTargetObjects; using utils::static_obstacle_avoidance::separateObjectsByPath; using utils::static_obstacle_avoidance::updateRoadShoulderDistance; @@ -345,15 +349,6 @@ void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects( filterTargetObjects(objects, data, forward_detection_range, planner_data_, parameters_); updateRoadShoulderDistance(data, planner_data_, parameters_); - // Calculate the distance needed to safely decelerate the ego vehicle to a stop line. - const auto & vehicle_width = planner_data_->parameters.vehicle_width; - const auto feasible_stop_distance = helper_->getFeasibleDecelDistance(0.0, false); - std::for_each(data.target_objects.begin(), data.target_objects.end(), [&, this](auto & o) { - fillAvoidanceNecessity(o, registered_objects_, vehicle_width, parameters_); - o.to_stop_line = calcDistanceToStopLine(o); - fillObjectStoppableJudge(o, registered_objects_, feasible_stop_distance, parameters_); - }); - // debug { std::vector debug_info_array; @@ -371,6 +366,21 @@ void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects( } } +void StaticObstacleAvoidanceModule::fillAvoidanceTargetData(ObjectDataArray & objects) const +{ + using utils::static_obstacle_avoidance::fillAvoidanceNecessity; + using utils::static_obstacle_avoidance::fillObjectStoppableJudge; + + // Calculate the distance needed to safely decelerate the ego vehicle to a stop line. + const auto & vehicle_width = planner_data_->parameters.vehicle_width; + const auto feasible_stop_distance = helper_->getFeasibleDecelDistance(0.0, false); + std::for_each(objects.begin(), objects.end(), [&, this](auto & o) { + fillAvoidanceNecessity(o, registered_objects_, vehicle_width, parameters_); + o.to_stop_line = calcDistanceToStopLine(o); + fillObjectStoppableJudge(o, registered_objects_, feasible_stop_distance, parameters_); + }); +} + ObjectData StaticObstacleAvoidanceModule::createObjectData( const AvoidancePlanningData & data, const PredictedObject & object) const { @@ -1376,11 +1386,13 @@ void StaticObstacleAvoidanceModule::updateRTCData() void StaticObstacleAvoidanceModule::updateInfoMarker(const AvoidancePlanningData & data) const { + using utils::static_obstacle_avoidance::createStopTargetObjectMarkerArray; using utils::static_obstacle_avoidance::createTargetObjectsMarkerArray; info_marker_.markers.clear(); appendMarkerArray( createTargetObjectsMarkerArray(data.target_objects, "target_objects"), &info_marker_); + appendMarkerArray(createStopTargetObjectMarkerArray(data), &info_marker_); } void StaticObstacleAvoidanceModule::updateDebugMarker( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 30d1aad16374b..ddc544553f30e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -1645,31 +1645,39 @@ void fillObjectStoppableJudge( object_data.is_stoppable = same_id_obj->is_stoppable; } -void updateRegisteredObject( - ObjectDataArray & registered_objects, const ObjectDataArray & now_objects, +void compensateLostTargetObjects( + ObjectDataArray & stored_objects, AvoidancePlanningData & data, const rclcpp::Time & now, + const std::shared_ptr & planner_data, const std::shared_ptr & parameters) { - const auto updateIfDetectedNow = [&now_objects](auto & registered_object) { - const auto & n = now_objects; - const auto r_id = registered_object.object.object_id; - const auto same_id_obj = std::find_if( - n.begin(), n.end(), [&r_id](const auto & o) { return o.object.object_id == r_id; }); + const auto include = [](const auto & objects, const auto & search_id) { + return std::all_of(objects.begin(), objects.end(), [&search_id](const auto & o) { + return o.object.object_id != search_id; + }); + }; + + // STEP.1 UPDATE STORED OBJECTS. + const auto match = [&data](auto & object) { + const auto & search_id = object.object.object_id; + const auto same_id_object = std::find_if( + data.target_objects.begin(), data.target_objects.end(), + [&search_id](const auto & o) { return o.object.object_id == search_id; }); // same id object is detected. update registered. - if (same_id_obj != n.end()) { - registered_object = *same_id_obj; + if (same_id_object != data.target_objects.end()) { + object = *same_id_object; return true; } - constexpr auto POS_THR = 1.5; - const auto r_pos = registered_object.getPose(); - const auto similar_pos_obj = std::find_if(n.begin(), n.end(), [&](const auto & o) { - return calcDistance2d(r_pos, o.getPose()) < POS_THR; - }); + const auto similar_pos_obj = std::find_if( + data.target_objects.begin(), data.target_objects.end(), [&object](const auto & o) { + constexpr auto POS_THR = 1.5; + return calcDistance2d(object.getPose(), o.getPose()) < POS_THR; + }); // same id object is not detected, but object is found around registered. update registered. - if (similar_pos_obj != n.end()) { - registered_object = *similar_pos_obj; + if (similar_pos_obj != data.target_objects.end()) { + object = *similar_pos_obj; return true; } @@ -1677,61 +1685,54 @@ void updateRegisteredObject( return false; }; - const rclcpp::Time now = rclcpp::Clock(RCL_ROS_TIME).now(); - - // -- check registered_objects, remove if lost_count exceeds limit. -- - for (int i = static_cast(registered_objects.size()) - 1; i >= 0; --i) { - auto & r = registered_objects.at(i); - - // registered object is not detected this time. lost count up. - if (!updateIfDetectedNow(r)) { - r.lost_time = (now - r.last_seen).seconds(); - } else { - r.last_seen = now; - r.lost_time = 0.0; - } + // STEP1-1: REMOVE EXPIRED OBJECTS. + const auto itr = std::remove_if( + stored_objects.begin(), stored_objects.end(), [&now, &match, ¶meters](auto & o) { + if (!match(o)) { + o.lost_time = (now - o.last_seen).seconds(); + } else { + o.last_seen = now; + o.lost_time = 0.0; + } - // lost count exceeds threshold. remove object from register. - if (r.lost_time > parameters->object_last_seen_threshold) { - registered_objects.erase(registered_objects.begin() + i); - } - } + return o.lost_time > parameters->object_last_seen_threshold; + }); - const auto isAlreadyRegistered = [&](const auto & n_id) { - const auto & r = registered_objects; - return std::any_of( - r.begin(), r.end(), [&n_id](const auto & o) { return o.object.object_id == n_id; }); - }; + stored_objects.erase(itr, stored_objects.end()); - // -- check now_objects, add it if it has new object id -- - for (const auto & now_obj : now_objects) { - if (!isAlreadyRegistered(now_obj.object.object_id)) { - registered_objects.push_back(now_obj); + // STEP1-2: UPDATE STORED OBJECTS IF THERE ARE NEW OBJECTS. + for (const auto & current_object : data.target_objects) { + if (!include(stored_objects, current_object.object.object_id)) { + stored_objects.push_back(current_object); } } -} -void compensateDetectionLost( - const ObjectDataArray & registered_objects, ObjectDataArray & now_objects, - ObjectDataArray & other_objects) -{ - const auto isDetectedNow = [&](const auto & r_id) { - const auto & n = now_objects; + // STEP2: COMPENSATE CURRENT TARGET OBJECTS + const auto is_detected = [&](const auto & object_id) { return std::any_of( - n.begin(), n.end(), [&r_id](const auto & o) { return o.object.object_id == r_id; }); + data.target_objects.begin(), data.target_objects.end(), + [&object_id](const auto & o) { return o.object.object_id == object_id; }); }; - const auto isIgnoreObject = [&](const auto & r_id) { - const auto & n = other_objects; + const auto is_ignored = [&](const auto & object_id) { return std::any_of( - n.begin(), n.end(), [&r_id](const auto & o) { return o.object.object_id == r_id; }); + data.other_objects.begin(), data.other_objects.end(), + [&object_id](const auto & o) { return o.object.object_id == object_id; }); }; - for (const auto & registered : registered_objects) { - if ( - !isDetectedNow(registered.object.object_id) && !isIgnoreObject(registered.object.object_id)) { - now_objects.push_back(registered); + for (auto & stored_object : stored_objects) { + if (is_detected(stored_object.object.object_id)) { + continue; + } + if (is_ignored(stored_object.object.object_id)) { + continue; } + + const auto & ego_pos = planner_data->self_odometry->pose.pose.position; + fillLongitudinalAndLengthByClosestEnvelopeFootprint( + data.reference_path_rough, ego_pos, stored_object); + + data.target_objects.push_back(stored_object); } } From 991a1ca2d0888ab48f5642243e20d6467df7d5b6 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 10 Jul 2024 09:39:43 +0900 Subject: [PATCH 120/306] feat(blind_spot): consider road_shoulder if exist (#7925) Signed-off-by: Mamoru Sobue --- .../src/scene.cpp | 31 +++++++++++++++---- 1 file changed, 25 insertions(+), 6 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp index 1880adb045b42..d8725f016fda2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp @@ -621,14 +621,14 @@ lanelet::ConstLanelets BlindSpotModule::generateBlindSpotLanelets( for (const auto i : lane_ids) { const auto lane = lanelet_map_ptr->laneletLayer.get(i); const auto ego_half_lanelet = generateHalfLanelet(lane); - const auto adj = + const auto assoc_adj = turn_direction_ == TurnDirection::LEFT ? (routing_graph_ptr->adjacentLeft(lane)) : (turn_direction_ == TurnDirection::RIGHT ? (routing_graph_ptr->adjacentRight(lane)) : boost::none); const std::optional opposite_adj = [&]() -> std::optional { - if (!!adj) { + if (!!assoc_adj) { return std::nullopt; } if (turn_direction_ == TurnDirection::LEFT) { @@ -653,10 +653,27 @@ lanelet::ConstLanelets BlindSpotModule::generateBlindSpotLanelets( } }(); - if (!adj && !opposite_adj) { - blind_spot_lanelets.push_back(ego_half_lanelet); - } else if (!!adj) { - const auto adj_half_lanelet = generateExtendedAdjacentLanelet(adj.value(), turn_direction_); + const auto assoc_shoulder = [&]() -> std::optional { + if (turn_direction_ == TurnDirection::LEFT) { + return planner_data_->route_handler_->getLeftShoulderLanelet(lane); + } else if (turn_direction_ == TurnDirection::RIGHT) { + return planner_data_->route_handler_->getRightShoulderLanelet(lane); + } + return std::nullopt; + }(); + if (assoc_shoulder) { + const auto lefts = (turn_direction_ == TurnDirection::LEFT) + ? assoc_shoulder.value().leftBound() + : ego_half_lanelet.leftBound(); + const auto rights = (turn_direction_ == TurnDirection::LEFT) + ? ego_half_lanelet.rightBound() + : assoc_shoulder.value().rightBound(); + blind_spot_lanelets.push_back( + lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); + + } else if (!!assoc_adj) { + const auto adj_half_lanelet = + generateExtendedAdjacentLanelet(assoc_adj.value(), turn_direction_); const auto lefts = (turn_direction_ == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() : ego_half_lanelet.leftBound(); const auto rights = (turn_direction_ == TurnDirection::RIGHT) ? adj_half_lanelet.rightBound() @@ -672,6 +689,8 @@ lanelet::ConstLanelets BlindSpotModule::generateBlindSpotLanelets( : adj_half_lanelet.rightBound(); blind_spot_lanelets.push_back( lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); + } else { + blind_spot_lanelets.push_back(ego_half_lanelet); } } return blind_spot_lanelets; From 59af2120e192d013d849f24c3ecfa84158b1091e Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 10 Jul 2024 10:29:13 +0900 Subject: [PATCH 121/306] feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (#7849) * add utils and diagnostics subscription to planning_evaluator Signed-off-by: Daniel Sanchez * add diagnostics eval Signed-off-by: Daniel Sanchez * fix input diag in launch Signed-off-by: kosuke55 --------- Signed-off-by: Daniel Sanchez Signed-off-by: kosuke55 Co-authored-by: kosuke55 --- .../control_evaluator_node.hpp | 7 -- .../autoware_control_evaluator/package.xml | 1 + .../src/control_evaluator_node.cpp | 50 +------------- .../autoware_evaluator_utils/CMakeLists.txt | 13 ++++ evaluator/autoware_evaluator_utils/README.md | 5 ++ .../evaluator_utils/evaluator_utils.hpp | 45 +++++++++++++ .../autoware_evaluator_utils/package.xml | 24 +++++++ .../src/evaluator_utils.cpp | 66 +++++++++++++++++++ .../planning_evaluator_node.hpp | 20 +++++- .../launch/planning_evaluator.launch.xml | 2 + .../autoware_planning_evaluator/package.xml | 1 + .../src/planning_evaluator_node.cpp | 46 +++++++++++++ 12 files changed, 225 insertions(+), 55 deletions(-) create mode 100644 evaluator/autoware_evaluator_utils/CMakeLists.txt create mode 100644 evaluator/autoware_evaluator_utils/README.md create mode 100644 evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp create mode 100644 evaluator/autoware_evaluator_utils/package.xml create mode 100644 evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index da60c820c45b1..614f1d66b9e0d 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -52,13 +52,6 @@ class ControlEvaluatorNode : public rclcpp::Node { public: explicit ControlEvaluatorNode(const rclcpp::NodeOptions & node_options); - void removeOldDiagnostics(const rclcpp::Time & stamp); - void removeDiagnosticsByName(const std::string & name); - void addDiagnostic(const DiagnosticStatus & diag, const rclcpp::Time & stamp); - void updateDiagnosticQueue( - const DiagnosticArray & input_diagnostics, const std::string & function, - const rclcpp::Time & stamp); - DiagnosticStatus generateLateralDeviationDiagnosticStatus( const Trajectory & traj, const Point & ego_point); DiagnosticStatus generateYawDeviationDiagnosticStatus( diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index 21f48b1c64485..d7300e6a3bfb4 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -14,6 +14,7 @@ ament_cmake_auto autoware_cmake + autoware_evaluator_utils autoware_motion_utils autoware_planning_msgs autoware_route_handler diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index 5862522d582f7..47706ed56cd7a 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -14,6 +14,8 @@ #include "autoware/control_evaluator/control_evaluator_node.hpp" +#include "autoware/evaluator_utils/evaluator_utils.hpp" + #include #include @@ -64,57 +66,11 @@ void ControlEvaluatorNode::getRouteData() } } -void ControlEvaluatorNode::removeOldDiagnostics(const rclcpp::Time & stamp) -{ - constexpr double KEEP_TIME = 1.0; - diag_queue_.erase( - std::remove_if( - diag_queue_.begin(), diag_queue_.end(), - [stamp](const std::pair & p) { - return (stamp - p.second).seconds() > KEEP_TIME; - }), - diag_queue_.end()); -} - -void ControlEvaluatorNode::removeDiagnosticsByName(const std::string & name) -{ - diag_queue_.erase( - std::remove_if( - diag_queue_.begin(), diag_queue_.end(), - [&name](const std::pair & p) { - return p.first.name.find(name) != std::string::npos; - }), - diag_queue_.end()); -} - -void ControlEvaluatorNode::addDiagnostic( - const diagnostic_msgs::msg::DiagnosticStatus & diag, const rclcpp::Time & stamp) -{ - diag_queue_.push_back(std::make_pair(diag, stamp)); -} - -void ControlEvaluatorNode::updateDiagnosticQueue( - const DiagnosticArray & input_diagnostics, const std::string & function, - const rclcpp::Time & stamp) -{ - const auto it = std::find_if( - input_diagnostics.status.begin(), input_diagnostics.status.end(), - [&function](const diagnostic_msgs::msg::DiagnosticStatus & diag) { - return diag.name.find(function) != std::string::npos; - }); - if (it != input_diagnostics.status.end()) { - removeDiagnosticsByName(it->name); - addDiagnostic(*it, input_diagnostics.header.stamp); - } - - removeOldDiagnostics(stamp); -} - void ControlEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg) { // add target diagnostics to the queue and remove old ones for (const auto & function : target_functions_) { - updateDiagnosticQueue(*diag_msg, function, now()); + autoware::evaluator_utils::updateDiagnosticQueue(*diag_msg, function, now(), diag_queue_); } } diff --git a/evaluator/autoware_evaluator_utils/CMakeLists.txt b/evaluator/autoware_evaluator_utils/CMakeLists.txt new file mode 100644 index 0000000000000..d75ed43a4e3cb --- /dev/null +++ b/evaluator/autoware_evaluator_utils/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_evaluator_utils) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(evaluator_utils SHARED + src/evaluator_utils.cpp +) + +ament_auto_package( + INSTALL_TO_SHARE +) diff --git a/evaluator/autoware_evaluator_utils/README.md b/evaluator/autoware_evaluator_utils/README.md new file mode 100644 index 0000000000000..b0db86f86b5c0 --- /dev/null +++ b/evaluator/autoware_evaluator_utils/README.md @@ -0,0 +1,5 @@ +# Evaluator Utils + +## Purpose + +This package provides utils functions for other evaluator packages diff --git a/evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp b/evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp new file mode 100644 index 0000000000000..3b91c9d7605e0 --- /dev/null +++ b/evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp @@ -0,0 +1,45 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EVALUATOR_UTILS__EVALUATOR_UTILS_HPP_ +#define AUTOWARE__EVALUATOR_UTILS__EVALUATOR_UTILS_HPP_ + +#include + +#include + +#include +#include +#include +#include +#include + +namespace autoware::evaluator_utils +{ + +using diagnostic_msgs::msg::DiagnosticArray; +using diagnostic_msgs::msg::DiagnosticStatus; +using DiagnosticQueue = std::deque>; + +void removeOldDiagnostics(const rclcpp::Time & stamp, DiagnosticQueue & diag_queue); +void removeDiagnosticsByName(const std::string & name, DiagnosticQueue & diag_queue); +void addDiagnostic( + const DiagnosticStatus & diag, const rclcpp::Time & stamp, DiagnosticQueue & diag_queue); +void updateDiagnosticQueue( + const DiagnosticArray & input_diagnostics, const std::string & function, + const rclcpp::Time & stamp, DiagnosticQueue & diag_queue); + +} // namespace autoware::evaluator_utils + +#endif // AUTOWARE__EVALUATOR_UTILS__EVALUATOR_UTILS_HPP_ diff --git a/evaluator/autoware_evaluator_utils/package.xml b/evaluator/autoware_evaluator_utils/package.xml new file mode 100644 index 0000000000000..b8566e33a32a3 --- /dev/null +++ b/evaluator/autoware_evaluator_utils/package.xml @@ -0,0 +1,24 @@ + + + + autoware_evaluator_utils + 0.1.0 + ROS 2 node for evaluating control + Daniel SANCHEZ + Takayuki MUROOKA + Apache License 2.0 + + Daniel SANCHEZ + Takayuki MUROOKA + + ament_cmake_auto + autoware_cmake + + diagnostic_msgs + rclcpp + rclcpp_components + + + ament_cmake + + diff --git a/evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp b/evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp new file mode 100644 index 0000000000000..293db21f50e7f --- /dev/null +++ b/evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp @@ -0,0 +1,66 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/evaluator_utils/evaluator_utils.hpp" + +#include + +namespace autoware::evaluator_utils +{ +void removeOldDiagnostics(const rclcpp::Time & stamp, DiagnosticQueue & diag_queue) +{ + constexpr double KEEP_TIME = 1.0; + diag_queue.erase( + std::remove_if( + diag_queue.begin(), diag_queue.end(), + [stamp](const std::pair & p) { + return (stamp - p.second).seconds() > KEEP_TIME; + }), + diag_queue.end()); +} + +void removeDiagnosticsByName(const std::string & name, DiagnosticQueue & diag_queue) +{ + diag_queue.erase( + std::remove_if( + diag_queue.begin(), diag_queue.end(), + [&name](const std::pair & p) { + return p.first.name.find(name) != std::string::npos; + }), + diag_queue.end()); +} + +void addDiagnostic( + const DiagnosticStatus & diag, const rclcpp::Time & stamp, DiagnosticQueue & diag_queue) +{ + diag_queue.push_back(std::make_pair(diag, stamp)); +} + +void updateDiagnosticQueue( + const DiagnosticArray & input_diagnostics, const std::string & function, + const rclcpp::Time & stamp, DiagnosticQueue & diag_queue) +{ + const auto it = std::find_if( + input_diagnostics.status.begin(), input_diagnostics.status.end(), + [&function](const DiagnosticStatus & diag) { + return diag.name.find(function) != std::string::npos; + }); + if (it != input_diagnostics.status.end()) { + removeDiagnosticsByName(it->name, diag_queue); + addDiagnostic(*it, input_diagnostics.header.stamp, diag_queue); + } + + removeOldDiagnostics(stamp, diag_queue); +} +} // namespace autoware::evaluator_utils diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index 91dc0386ae6c6..6925cb15e8fad 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -32,13 +32,14 @@ #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" #include +#include #include #include #include #include +#include #include - namespace planning_diagnostics { using autoware_perception_msgs::msg::PredictedObjects; @@ -93,12 +94,22 @@ class PlanningEvaluatorNode : public rclcpp::Node const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg, const Odometry::ConstSharedPtr ego_state_ptr); + /** + * @brief obtain diagnostics information + */ + void onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg); + /** * @brief publish the given metric statistic */ DiagnosticStatus generateDiagnosticStatus( const Metric & metric, const Stat & metric_stat) const; + /** + * @brief publish current ego lane info + */ + DiagnosticStatus generateDiagnosticEvaluationStatus(const DiagnosticStatus & diag); + /** * @brief publish current ego lane info */ @@ -127,6 +138,10 @@ class PlanningEvaluatorNode : public rclcpp::Node * @brief fetch topic data */ void fetchData(); + // The diagnostics cycle is faster than timer, and each node publishes diagnostic separately. + // takeData() in onTimer() with a polling subscriber will miss a topic, so save all topics with + // onDiagnostics(). + rclcpp::Subscription::SharedPtr planning_diag_sub_; // ROS autoware::universe_utils::InterProcessPollingSubscriber traj_sub_{ @@ -164,6 +179,9 @@ class PlanningEvaluatorNode : public rclcpp::Node std::array>, static_cast(Metric::SIZE)> metric_stats_; rclcpp::TimerBase::SharedPtr timer_; + // queue for diagnostics and time stamp + std::deque> diag_queue_; + const std::vector target_functions_ = {"obstacle_cruise_planner"}; std::optional prev_acc_stamped_{std::nullopt}; }; } // namespace planning_diagnostics diff --git a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml index 70301ebe6275f..c9517404b63a9 100644 --- a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml +++ b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml @@ -7,6 +7,7 @@ + @@ -15,6 +16,7 @@ + diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 3c3d4bd8bb595..eb3161e0afb35 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -13,6 +13,7 @@ ament_cmake_auto autoware_cmake + autoware_evaluator_utils autoware_motion_utils autoware_perception_msgs autoware_planning_msgs diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index 9b65dbbc0b89e..ae3416b9cba8f 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -14,6 +14,8 @@ #include "autoware/planning_evaluator/planning_evaluator_node.hpp" +#include "autoware/evaluator_utils/evaluator_utils.hpp" + #include #include @@ -21,6 +23,7 @@ #include "boost/lexical_cast.hpp" +#include #include #include #include @@ -55,6 +58,9 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op output_file_str_ = declare_parameter("output_file"); ego_frame_str_ = declare_parameter("ego_frame"); + planning_diag_sub_ = create_subscription( + "~/input/diagnostics", 1, std::bind(&PlanningEvaluatorNode::onDiagnostics, this, _1)); + // List of metrics to calculate and publish metrics_pub_ = create_publisher("~/metrics", 1); for (const std::string & selected_metric : @@ -97,6 +103,29 @@ PlanningEvaluatorNode::~PlanningEvaluatorNode() } } +void PlanningEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg) +{ + // add target diagnostics to the queue and remove old ones + for (const auto & function : target_functions_) { + autoware::evaluator_utils::updateDiagnosticQueue(*diag_msg, function, now(), diag_queue_); + } +} + +DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticEvaluationStatus( + const DiagnosticStatus & diag) +{ + DiagnosticStatus status; + status.name = diag.name; + + const auto it = std::find_if(diag.values.begin(), diag.values.end(), [](const auto & key_value) { + return key_value.key.find("decision") != std::string::npos; + }); + const bool found = it != diag.values.end(); + status.level = (found) ? status.OK : status.ERROR; + status.values.push_back((found) ? *it : diagnostic_msgs::msg::KeyValue{}); + return status; +} + void PlanningEvaluatorNode::getRouteData() { // route @@ -232,6 +261,23 @@ void PlanningEvaluatorNode::onTimer() const auto modified_goal_msg = modified_goal_sub_.takeData(); onModifiedGoal(modified_goal_msg, ego_state_ptr); } + + { + // generate decision diagnostics from input diagnostics + for (const auto & function : target_functions_) { + const auto it = std::find_if( + diag_queue_.begin(), diag_queue_.end(), + [&function](const std::pair & p) { + return p.first.name.find(function) != std::string::npos; + }); + if (it == diag_queue_.end()) { + continue; + } + // generate each decision diagnostics + metrics_msg_.status.push_back(generateDiagnosticEvaluationStatus(it->first)); + } + } + if (!metrics_msg_.status.empty()) { metrics_pub_->publish(metrics_msg_); } From 4ff69bf17b6d200ea20276b8b039ebc946d6e7a7 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 10 Jul 2024 10:50:22 +0900 Subject: [PATCH 122/306] refactor(image_diagnostics): fix namespace and directory structure (#7915) refactor: update include paths and namespace for image_diagnostics Signed-off-by: Taekjin LEE --- sensing/image_diagnostics/CMakeLists.txt | 8 ++++---- .../image_diagnostics/src/image_diagnostics_node.cpp | 10 ++++++---- .../image_diagnostics_node.hpp | 11 ++++++----- 3 files changed, 16 insertions(+), 13 deletions(-) rename sensing/image_diagnostics/{include/image_diagnostics => src}/image_diagnostics_node.hpp (93%) diff --git a/sensing/image_diagnostics/CMakeLists.txt b/sensing/image_diagnostics/CMakeLists.txt index 800cd3f67d902..186d9340dc08a 100644 --- a/sensing/image_diagnostics/CMakeLists.txt +++ b/sensing/image_diagnostics/CMakeLists.txt @@ -28,14 +28,14 @@ include_directories( ) -ament_auto_add_library(image_diagnostics SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/image_diagnostics_node.cpp ) -target_link_libraries(image_diagnostics +target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ) -rclcpp_components_register_node(image_diagnostics - PLUGIN "image_diagnostics::ImageDiagNode" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::image_diagnostics::ImageDiagNode" EXECUTABLE image_diagnostics_node ) diff --git a/sensing/image_diagnostics/src/image_diagnostics_node.cpp b/sensing/image_diagnostics/src/image_diagnostics_node.cpp index 3db9ab94f50fa..49204f5cbc756 100644 --- a/sensing/image_diagnostics/src/image_diagnostics_node.cpp +++ b/sensing/image_diagnostics/src/image_diagnostics_node.cpp @@ -12,11 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_diagnostics/image_diagnostics_node.hpp" +#include "image_diagnostics_node.hpp" #include -namespace image_diagnostics +#include + +namespace autoware::image_diagnostics { using image_diagnostics::Image_State; ImageDiagNode::ImageDiagNode(const rclcpp::NodeOptions & node_options) @@ -271,7 +273,7 @@ void ImageDiagNode::shiftImage(cv::Mat & img) tmp.copyTo(left_bottom); } -} // namespace image_diagnostics +} // namespace autoware::image_diagnostics #include -RCLCPP_COMPONENTS_REGISTER_NODE(image_diagnostics::ImageDiagNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::image_diagnostics::ImageDiagNode) diff --git a/sensing/image_diagnostics/include/image_diagnostics/image_diagnostics_node.hpp b/sensing/image_diagnostics/src/image_diagnostics_node.hpp similarity index 93% rename from sensing/image_diagnostics/include/image_diagnostics/image_diagnostics_node.hpp rename to sensing/image_diagnostics/src/image_diagnostics_node.hpp index d6d150220555f..325624062b90b 100644 --- a/sensing/image_diagnostics/include/image_diagnostics/image_diagnostics_node.hpp +++ b/sensing/image_diagnostics/src/image_diagnostics_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_DIAGNOSTICS__IMAGE_DIAGNOSTICS_NODE_HPP_ -#define IMAGE_DIAGNOSTICS__IMAGE_DIAGNOSTICS_NODE_HPP_ +#ifndef IMAGE_DIAGNOSTICS_NODE_HPP_ +#define IMAGE_DIAGNOSTICS_NODE_HPP_ #include #include @@ -34,7 +34,8 @@ #include #include -namespace image_diagnostics + +namespace autoware::image_diagnostics { using diagnostic_updater::DiagnosticStatusWrapper; using diagnostic_updater::Updater; @@ -98,6 +99,6 @@ class ImageDiagNode : public rclcpp::Node rclcpp::Publisher::SharedPtr image_state_pub_; }; -} // namespace image_diagnostics +} // namespace autoware::image_diagnostics -#endif // IMAGE_DIAGNOSTICS__IMAGE_DIAGNOSTICS_NODE_HPP_ +#endif // IMAGE_DIAGNOSTICS_NODE_HPP_ From 96b36f75cdb1aab37a276e69f0243efe50dced7c Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 10 Jul 2024 10:53:32 +0900 Subject: [PATCH 123/306] fix(controller): revival of dry steering (#7903) * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (#7673)" This reverts commit 69258bd92cb8a0ff8320df9b2302db72975e027f. * dry steering Signed-off-by: Takayuki Murooka * add comments Signed-off-by: Takayuki Murooka * add minor fix and modify unit test for dry steering Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../autoware/mpc_lateral_controller/mpc.hpp | 5 +- .../src/mpc.cpp | 20 ++++-- .../pid_longitudinal_controller.hpp | 2 + .../src/pid_longitudinal_controller.cpp | 63 +++++++++++-------- .../test/test_controller_node.cpp | 27 ++++++-- 5 files changed, 79 insertions(+), 38 deletions(-) diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp index 902790f260e5e..058eb45bfaaff 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp @@ -271,7 +271,7 @@ class MPC */ std::pair executeOptimization( const MPCMatrix & mpc_matrix, const VectorXd & x0, const double prediction_dt, - const MPCTrajectory & trajectory); + const MPCTrajectory & trajectory, const double current_velocity); /** * @brief Resample the trajectory with the MPC resampling time. @@ -386,7 +386,8 @@ class MPC * @param reference_trajectory The reference trajectory. * @param current_velocity current velocity of ego. */ - VectorXd calcSteerRateLimitOnTrajectory(const MPCTrajectory & trajectory) const; + VectorXd calcSteerRateLimitOnTrajectory( + const MPCTrajectory & trajectory, const double current_velocity) const; //!< @brief logging with warn and return false template diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp index ea97e9e6d5f39..dfc4d82541bf8 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp @@ -76,8 +76,9 @@ bool MPC::calculateMPC( const auto mpc_matrix = generateMPCMatrix(mpc_resampled_ref_trajectory, prediction_dt); // solve Optimization problem - const auto [success_opt, Uex] = - executeOptimization(mpc_matrix, x0_delayed, prediction_dt, mpc_resampled_ref_trajectory); + const auto [success_opt, Uex] = executeOptimization( + mpc_matrix, x0_delayed, prediction_dt, mpc_resampled_ref_trajectory, + current_kinematics.twist.twist.linear.x); if (!success_opt) { return fail_warn_throttle("optimization failed. Stop MPC."); } @@ -543,7 +544,8 @@ MPCMatrix MPC::generateMPCMatrix( * [ -au_lim * dt ] < [uN-uN-1] < [ au_lim * dt ] (*N... DIM_U) */ std::pair MPC::executeOptimization( - const MPCMatrix & m, const VectorXd & x0, const double prediction_dt, const MPCTrajectory & traj) + const MPCMatrix & m, const VectorXd & x0, const double prediction_dt, const MPCTrajectory & traj, + const double current_velocity) { VectorXd Uex; @@ -576,7 +578,7 @@ std::pair MPC::executeOptimization( VectorXd ub = VectorXd::Constant(DIM_U_N, m_steer_lim); // max steering angle // steering angle rate limit - VectorXd steer_rate_limits = calcSteerRateLimitOnTrajectory(traj); + VectorXd steer_rate_limits = calcSteerRateLimitOnTrajectory(traj, current_velocity); VectorXd ubA = steer_rate_limits * prediction_dt; VectorXd lbA = -steer_rate_limits * prediction_dt; ubA(0) = m_raw_steer_cmd_prev + steer_rate_limits(0) * m_ctrl_period; @@ -728,7 +730,8 @@ double MPC::calcDesiredSteeringRate( return steer_rate; } -VectorXd MPC::calcSteerRateLimitOnTrajectory(const MPCTrajectory & trajectory) const +VectorXd MPC::calcSteerRateLimitOnTrajectory( + const MPCTrajectory & trajectory, const double current_velocity) const { const auto interp = [&](const auto & steer_rate_limit_map, const auto & current) { std::vector reference, limits; @@ -762,6 +765,13 @@ VectorXd MPC::calcSteerRateLimitOnTrajectory(const MPCTrajectory & trajectory) c return reference.back(); }; + // When the vehicle is stopped, a large steer rate limit is used for the dry steering. + constexpr double steer_rate_lim = 100.0; + const bool is_vehicle_stopped = std::fabs(current_velocity) < 0.01; + if (is_vehicle_stopped) { + return steer_rate_lim * VectorXd::Ones(m_param.prediction_horizon); + } + // calculate steering rate limit VectorXd steer_rate_limits = VectorXd::Zero(m_param.prediction_horizon); for (int i = 0; i < m_param.prediction_horizon; ++i) { diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp index 5805ef7db9f86..0fd85b5822924 100644 --- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp @@ -234,6 +234,8 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro // debug values DebugValues m_debug_values; + std::optional m_prev_keep_stopped_condition{std::nullopt}; + std::shared_ptr m_last_running_time{std::make_shared(clock_->now())}; // Diagnostic diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 93496c85c741b..a0118092413a9 100644 --- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -599,21 +599,6 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // NOTE: the same velocity threshold as autoware::motion_utils::searchZeroVelocity static constexpr double vel_epsilon = 1e-3; - // Let vehicle start after the steering is converged for control accuracy - const bool keep_stopped_condition = std::fabs(current_vel) < vel_epsilon && - m_enable_keep_stopped_until_steer_convergence && - !lateral_sync_data_.is_steer_converged; - if (keep_stopped_condition) { - auto marker = createDefaultMarker( - "map", clock_->now(), "stop_reason", 0, Marker::TEXT_VIEW_FACING, - createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); - marker.pose = autoware::universe_utils::calcOffsetPose( - m_current_kinematic_state.pose.pose, m_wheel_base + m_front_overhang, - m_vehicle_width / 2 + 2.0, 1.5); - marker.text = "steering not\nconverged"; - m_pub_stop_reason_marker->publish(marker); - } - const bool stopping_condition = stop_dist < p.stopping_state_stop_dist; const bool is_stopped = std::abs(current_vel) < p.stopped_state_entry_vel && @@ -672,15 +657,18 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d m_under_control_starting_time = is_under_control ? std::make_shared(clock_->now()) : nullptr; } + + if (m_control_state != ControlState::STOPPED) { + m_prev_keep_stopped_condition = std::nullopt; + } + // transit state // in DRIVE state if (m_control_state == ControlState::DRIVE) { if (emergency_condition) { return changeState(ControlState::EMERGENCY); } - if (!is_under_control && stopped_condition && keep_stopped_condition) { - // NOTE: When the ego is stopped on manual driving, since the driving state may transit to - // autonomous, keep_stopped_condition should be checked. + if (!is_under_control && stopped_condition) { return changeState(ControlState::STOPPED); } @@ -723,19 +711,42 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // in STOPPED state if (m_control_state == ControlState::STOPPED) { - // -- debug print -- + // debug print if (has_nonzero_target_vel && !departure_condition_from_stopped) { debug_msg_once("target speed > 0, but departure condition is not met. Keep STOPPED."); } - if (has_nonzero_target_vel && keep_stopped_condition) { - debug_msg_once("target speed > 0, but keep stop condition is met. Keep STOPPED."); - } - // --------------- - if (keep_stopped_condition) { - return changeState(ControlState::STOPPED); - } if (departure_condition_from_stopped) { + // Let vehicle start after the steering is converged for dry steering + const bool current_keep_stopped_condition = + std::fabs(current_vel) < vel_epsilon && !lateral_sync_data_.is_steer_converged; + // NOTE: Dry steering is considered unnecessary when the steering is converged twice in a + // row. This is because lateral_sync_data_.is_steer_converged is not the current but + // the previous value due to the order controllers' run and sync functions. + const bool keep_stopped_condition = + !m_prev_keep_stopped_condition || + (current_keep_stopped_condition || *m_prev_keep_stopped_condition); + m_prev_keep_stopped_condition = current_keep_stopped_condition; + if (m_enable_keep_stopped_until_steer_convergence && keep_stopped_condition) { + // debug print + if (has_nonzero_target_vel) { + debug_msg_once("target speed > 0, but keep stop condition is met. Keep STOPPED."); + } + + // publish debug marker + auto marker = createDefaultMarker( + "map", clock_->now(), "stop_reason", 0, Marker::TEXT_VIEW_FACING, + createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); + marker.pose = autoware::universe_utils::calcOffsetPose( + m_current_kinematic_state.pose.pose, m_wheel_base + m_front_overhang, + m_vehicle_width / 2 + 2.0, 1.5); + marker.text = "steering not\nconverged"; + m_pub_stop_reason_marker->publish(marker); + + // keep STOPPED + return; + } + m_pid_vel.reset(); m_lpf_vel_error->reset(0.0); // prevent the car from taking a long time to start to move diff --git a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp index e0dc5ede906a9..48ffab52e2b15 100644 --- a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp +++ b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp @@ -589,11 +589,28 @@ TEST_F(FakeNodeFixture, longitudinal_check_steer_converged) traj.points.push_back(make_traj_point(0.0, 0.0, 1.0f)); traj.points.push_back(make_traj_point(50.0, 0.0, 1.0f)); traj.points.push_back(make_traj_point(100.0, 0.0, 1.0f)); - tester.traj_pub->publish(traj); - test_utils::waitForMessage(tester.node, this, tester.received_control_command); + { // Check if the ego can keep stopped when the steering is not converged. + tester.traj_pub->publish(traj); + test_utils::waitForMessage(tester.node, this, tester.received_control_command); - ASSERT_TRUE(tester.received_control_command); - // Keep stopped state when the lateral control is not converged. - EXPECT_DOUBLE_EQ(tester.cmd_msg->longitudinal.velocity, 0.0f); + ASSERT_TRUE(tester.received_control_command); + // Keep stopped state when the lateral control is not converged. + EXPECT_DOUBLE_EQ(tester.cmd_msg->longitudinal.velocity, 0.0f); + } + + { // Check if the ego can keep stopped after the following sequence + // 1. not converged -> 2. converged -> 3. not converged + tester.publish_steer_angle(0.0); + tester.traj_pub->publish(traj); + test_utils::waitForMessage(tester.node, this, tester.received_control_command); + + tester.publish_steer_angle(steering_tire_angle); + tester.traj_pub->publish(traj); + test_utils::waitForMessage(tester.node, this, tester.received_control_command); + + ASSERT_TRUE(tester.received_control_command); + // Keep stopped state when the lateral control is not converged. + EXPECT_DOUBLE_EQ(tester.cmd_msg->longitudinal.velocity, 0.0f); + } } From 696a2a5d7bf3b69be315c04fd67d6c52ac62819a Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 10 Jul 2024 13:11:17 +0900 Subject: [PATCH 124/306] fix(autoware_behavior_velocity_no_drivable_lane_module): fix bug of uninitialization (#7928) Signed-off-by: Y.Hisaki --- .../src/scene.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp index 42d896fec8ab3..465fd770049e9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp @@ -149,7 +149,7 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path, StopR const auto & op_target_point_idx = autoware::motion_utils::insertTargetPoint(target_segment_idx, target_point, path->points, 5e-2); - size_t target_point_idx; + size_t target_point_idx = 0; if (op_target_point_idx) { target_point_idx = op_target_point_idx.value(); } From 95594d900ea61924766722b47cb1c47b0e248c95 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Wed, 10 Jul 2024 13:36:31 +0900 Subject: [PATCH 125/306] fix: added temporary retrocompatibility to old perception data (#7929) Signed-off-by: Kenzo Lobos-Tsunekawa --- sensing/pointcloud_preprocessor/src/filter.cpp | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp index 9b52babac88d6..eaadd1da2c064 100644 --- a/sensing/pointcloud_preprocessor/src/filter.cpp +++ b/sensing/pointcloud_preprocessor/src/filter.cpp @@ -413,12 +413,19 @@ bool pointcloud_preprocessor::Filter::convert_output_costly(std::unique_ptr Date: Wed, 10 Jul 2024 13:42:44 +0900 Subject: [PATCH 126/306] feat(lidar_transfusion): intensity as uint8 and tests (#7745) * feat(lidar_transfusion): intensity as uint8 and tests Signed-off-by: Amadeusz Szymko * style(pre-commit): autofix * fix(lidar_transfusion): headers include Signed-off-by: Amadeusz Szymko * feat(lidar_transfusion): use autoware_point_types for validation & refactor Signed-off-by: Amadeusz Szymko * style(lidar_transfusion): remove deprecated function Signed-off-by: Amadeusz Szymko * test(lidar_transfusion): point_step validation is not required Signed-off-by: Amadeusz Szymko * docs(lidar_transfusion): update assumptions / known limits Signed-off-by: Amadeusz Szymko * refactor(lidar_transfusion): redundant points structure Signed-off-by: Amadeusz Szymko * docs(lidar_transfusion): update assumptions / known limits Signed-off-by: Amadeusz Szymko * test(lidar_transfusion): temporary disable CUDA tests Signed-off-by: Amadeusz Szymko --------- Signed-off-by: Amadeusz Szymko Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa --- perception/lidar_transfusion/CMakeLists.txt | 52 +++ perception/lidar_transfusion/README.md | 18 ++ .../preprocess/pointcloud_densification.hpp | 2 +- .../preprocess/preprocess_kernel.hpp | 6 +- .../preprocess/voxel_generator.hpp | 8 +- .../include/lidar_transfusion/ros_utils.hpp | 68 ++++ .../include/lidar_transfusion/utils.hpp | 46 --- .../preprocess/pointcloud_densification.cpp | 9 +- .../lib/preprocess/preprocess_kernel.cu | 61 ++-- .../lib/preprocess/voxel_generator.cpp | 23 +- perception/lidar_transfusion/package.xml | 1 + .../test/test_detection_class_remapper.cpp | 92 ++++++ .../lidar_transfusion/test/test_nms.cpp | 121 +++++++ .../test/test_postprocess_kernel.cpp | 299 ++++++++++++++++++ .../test/test_postprocess_kernel.hpp | 48 +++ .../test/test_preprocess_kernel.cpp | 265 ++++++++++++++++ .../test/test_preprocess_kernel.hpp | 50 +++ .../lidar_transfusion/test/test_ros_utils.cpp | 104 ++++++ .../test/test_voxel_generator.cpp | 284 +++++++++++++++++ .../test/test_voxel_generator.hpp | 65 ++++ 20 files changed, 1517 insertions(+), 105 deletions(-) create mode 100644 perception/lidar_transfusion/test/test_detection_class_remapper.cpp create mode 100644 perception/lidar_transfusion/test/test_nms.cpp create mode 100644 perception/lidar_transfusion/test/test_postprocess_kernel.cpp create mode 100644 perception/lidar_transfusion/test/test_postprocess_kernel.hpp create mode 100644 perception/lidar_transfusion/test/test_preprocess_kernel.cpp create mode 100644 perception/lidar_transfusion/test/test_preprocess_kernel.hpp create mode 100644 perception/lidar_transfusion/test/test_ros_utils.cpp create mode 100644 perception/lidar_transfusion/test/test_voxel_generator.cpp create mode 100644 perception/lidar_transfusion/test/test_voxel_generator.hpp diff --git a/perception/lidar_transfusion/CMakeLists.txt b/perception/lidar_transfusion/CMakeLists.txt index c0e2d85f27e62..677a835e5b04e 100644 --- a/perception/lidar_transfusion/CMakeLists.txt +++ b/perception/lidar_transfusion/CMakeLists.txt @@ -137,6 +137,58 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() + + find_package(ament_cmake_gtest REQUIRED) + ament_auto_add_gtest(test_detection_class_remapper + test/test_detection_class_remapper.cpp + ) + ament_auto_add_gtest(test_ros_utils + test/test_ros_utils.cpp + ) + ament_auto_add_gtest(test_nms + test/test_nms.cpp + ) + + # Temporary disabled, tracked by: + # https://github.com/autowarefoundation/autoware.universe/issues/7724 + # ament_auto_add_gtest(test_voxel_generator + # test/test_voxel_generator.cpp + # ) + + # # preprocess kernel test + # add_executable(test_preprocess_kernel + # test/test_preprocess_kernel.cpp + # ) + # target_include_directories(test_preprocess_kernel PUBLIC + # ${test_preprocess_kernel_SOURCE_DIR} + # ) + # target_link_libraries(test_preprocess_kernel + # transfusion_cuda_lib + # gtest + # gtest_main + # ) + # ament_add_test(test_preprocess_kernel + # GENERATE_RESULT_FOR_RETURN_CODE_ZERO + # COMMAND "$" + # ) + + # # postprocess kernel test + # add_executable(test_postprocess_kernel + # test/test_postprocess_kernel.cpp + # ) + # target_include_directories(test_postprocess_kernel PUBLIC + # ${test_postprocess_kernel_SOURCE_DIR} + # ) + # target_link_libraries(test_postprocess_kernel + # transfusion_cuda_lib + # gtest + # gtest_main + # ) + # ament_add_test(test_postprocess_kernel + # GENERATE_RESULT_FOR_RETURN_CODE_ZERO + # COMMAND "$" + # ) + endif() ament_auto_package( diff --git a/perception/lidar_transfusion/README.md b/perception/lidar_transfusion/README.md index 7974714720c32..e30403141e8ad 100644 --- a/perception/lidar_transfusion/README.md +++ b/perception/lidar_transfusion/README.md @@ -59,6 +59,24 @@ ros2 launch lidar_transfusion lidar_transfusion.launch.xml log_level:=debug ## Assumptions / Known limits +This library operates on raw cloud data (bytes). It is assumed that the input pointcloud message has following format: + +```python +[ + sensor_msgs.msg.PointField(name='x', offset=0, datatype=7, count=1), + sensor_msgs.msg.PointField(name='y', offset=4, datatype=7, count=1), + sensor_msgs.msg.PointField(name='z', offset=8, datatype=7, count=1), + sensor_msgs.msg.PointField(name='intensity', offset=12, datatype=2, count=1) +] +``` + +This input may consist of other fields as well - shown format is required minimum. +For debug purposes, you can validate your pointcloud topic using simple command: + +```bash +ros2 topic echo --field fields +``` + ## Trained Models You can download the onnx format of trained models by clicking on the links below. diff --git a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/pointcloud_densification.hpp b/perception/lidar_transfusion/include/lidar_transfusion/preprocess/pointcloud_densification.hpp index 25095f4dc9c0b..6ac0a6544389f 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/pointcloud_densification.hpp +++ b/perception/lidar_transfusion/include/lidar_transfusion/preprocess/pointcloud_densification.hpp @@ -51,7 +51,7 @@ class DensificationParam struct PointCloudWithTransform { - cuda::unique_ptr points_d{nullptr}; + cuda::unique_ptr data_d{nullptr}; std_msgs::msg::Header header; size_t num_points{0}; Eigen::Affine3f affine_past2world; diff --git a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/preprocess_kernel.hpp b/perception/lidar_transfusion/include/lidar_transfusion/preprocess/preprocess_kernel.hpp index c571990d84b51..592f09c2d288a 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/preprocess_kernel.hpp +++ b/perception/lidar_transfusion/include/lidar_transfusion/preprocess/preprocess_kernel.hpp @@ -56,12 +56,8 @@ class PreprocessCuda unsigned int * mask, float * voxels, unsigned int * pillar_num, float * voxel_features, unsigned int * voxel_num, unsigned int * voxel_idxs); - // cudaError_t generateVoxelsInput_launch( - // uint8_t * cloud_data, CloudInfo & cloud_info, unsigned int points_agg, unsigned int - // points_size, float time_lag, float * affine_transform, float * points); - cudaError_t generateSweepPoints_launch( - const float * input_points, size_t points_size, int input_point_step, float time_lag, + const uint8_t * input_data, size_t points_size, int input_point_step, float time_lag, const float * transform, float * output_points); private: diff --git a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/voxel_generator.hpp b/perception/lidar_transfusion/include/lidar_transfusion/preprocess/voxel_generator.hpp index 3e3660e238473..f0d253ee28755 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/voxel_generator.hpp +++ b/perception/lidar_transfusion/include/lidar_transfusion/preprocess/voxel_generator.hpp @@ -18,8 +18,8 @@ #include "lidar_transfusion/cuda_utils.hpp" #include "lidar_transfusion/preprocess/pointcloud_densification.hpp" #include "lidar_transfusion/preprocess/preprocess_kernel.hpp" +#include "lidar_transfusion/ros_utils.hpp" #include "lidar_transfusion/transfusion_config.hpp" -#include "lidar_transfusion/utils.hpp" #ifdef ROS_DISTRO_GALACTIC #include @@ -27,6 +27,8 @@ #include #endif +#include + #include #include @@ -36,8 +38,8 @@ namespace lidar_transfusion { -constexpr size_t AFF_MAT_SIZE = 16; // 4x4 matrix -constexpr size_t MAX_CLOUD_STEP_SIZE = 35; // PointXYZIRCADT +constexpr size_t AFF_MAT_SIZE = 16; // 4x4 matrix +constexpr size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware_point_types::PointXYZIRCAEDT); class VoxelGenerator { diff --git a/perception/lidar_transfusion/include/lidar_transfusion/ros_utils.hpp b/perception/lidar_transfusion/include/lidar_transfusion/ros_utils.hpp index f013a02404a29..cbfc4e87b1610 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/ros_utils.hpp +++ b/perception/lidar_transfusion/include/lidar_transfusion/ros_utils.hpp @@ -17,16 +17,84 @@ #include "lidar_transfusion/utils.hpp" +#include + #include #include #include #include +#include +#include #include #include +#define CHECK_OFFSET(offset, structure, field) \ + static_assert( \ + offsetof(structure, field) == offset, \ + "Offset of " #field " in " #structure " does not match expected offset.") +#define CHECK_TYPE(type, structure, field) \ + static_assert( \ + std::is_same::value, \ + "Type of " #field " in " #structure " does not match expected type.") +#define CHECK_FIELD(offset, type, structure, field) \ + CHECK_OFFSET(offset, structure, field); \ + CHECK_TYPE(type, structure, field) + namespace lidar_transfusion { +using sensor_msgs::msg::PointField; + +CHECK_FIELD(0, float, autoware_point_types::PointXYZIRCAEDT, x); +CHECK_FIELD(4, float, autoware_point_types::PointXYZIRCAEDT, y); +CHECK_FIELD(8, float, autoware_point_types::PointXYZIRCAEDT, z); +CHECK_FIELD(12, uint8_t, autoware_point_types::PointXYZIRCAEDT, intensity); + +struct CloudInfo +{ + uint32_t x_offset{0}; + uint32_t y_offset{sizeof(float)}; + uint32_t z_offset{sizeof(float) * 2}; + uint32_t intensity_offset{sizeof(float) * 3}; + uint8_t x_datatype{PointField::FLOAT32}; + uint8_t y_datatype{PointField::FLOAT32}; + uint8_t z_datatype{PointField::FLOAT32}; + uint8_t intensity_datatype{PointField::UINT8}; + uint8_t x_count{1}; + uint8_t y_count{1}; + uint8_t z_count{1}; + uint8_t intensity_count{1}; + uint32_t point_step{sizeof(autoware_point_types::PointXYZIRCAEDT)}; + bool is_bigendian{false}; + + bool operator!=(const CloudInfo & rhs) const + { + return x_offset != rhs.x_offset || y_offset != rhs.y_offset || z_offset != rhs.z_offset || + intensity_offset != rhs.intensity_offset || x_datatype != rhs.x_datatype || + y_datatype != rhs.y_datatype || z_datatype != rhs.z_datatype || + intensity_datatype != rhs.intensity_datatype || x_count != rhs.x_count || + y_count != rhs.y_count || z_count != rhs.z_count || + intensity_count != rhs.intensity_count || is_bigendian != rhs.is_bigendian; + } + + friend std::ostream & operator<<(std::ostream & os, const CloudInfo & info) + { + os << "x_offset: " << static_cast(info.x_offset) << std::endl; + os << "y_offset: " << static_cast(info.y_offset) << std::endl; + os << "z_offset: " << static_cast(info.z_offset) << std::endl; + os << "intensity_offset: " << static_cast(info.intensity_offset) << std::endl; + os << "x_datatype: " << static_cast(info.x_datatype) << std::endl; + os << "y_datatype: " << static_cast(info.y_datatype) << std::endl; + os << "z_datatype: " << static_cast(info.z_datatype) << std::endl; + os << "intensity_datatype: " << static_cast(info.intensity_datatype) << std::endl; + os << "x_count: " << static_cast(info.x_count) << std::endl; + os << "y_count: " << static_cast(info.y_count) << std::endl; + os << "z_count: " << static_cast(info.z_count) << std::endl; + os << "intensity_count: " << static_cast(info.intensity_count) << std::endl; + os << "is_bigendian: " << static_cast(info.is_bigendian) << std::endl; + return os; + } +}; void box3DToDetectedObject( const Box3D & box3d, const std::vector & class_names, diff --git a/perception/lidar_transfusion/include/lidar_transfusion/utils.hpp b/perception/lidar_transfusion/include/lidar_transfusion/utils.hpp index e73fe7f055953..cc40e55851738 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/utils.hpp +++ b/perception/lidar_transfusion/include/lidar_transfusion/utils.hpp @@ -36,52 +36,6 @@ struct Box3D float yaw; }; -struct CloudInfo -{ - uint32_t x_offset; - uint32_t y_offset; - uint32_t z_offset; - uint32_t intensity_offset; - uint8_t x_datatype; - uint8_t y_datatype; - uint8_t z_datatype; - uint8_t intensity_datatype; - uint8_t x_count; - uint8_t y_count; - uint8_t z_count; - uint8_t intensity_count; - uint32_t point_step; - bool is_bigendian; - - CloudInfo() - : x_offset(0), - y_offset(4), - z_offset(8), - intensity_offset(12), - x_datatype(7), - y_datatype(7), - z_datatype(7), - intensity_datatype(7), - x_count(1), - y_count(1), - z_count(1), - intensity_count(1), - point_step(16), - is_bigendian(false) - { - } - - bool operator!=(const CloudInfo & rhs) const - { - return x_offset != rhs.x_offset || y_offset != rhs.y_offset || z_offset != rhs.z_offset || - intensity_offset != rhs.intensity_offset || x_datatype != rhs.x_datatype || - y_datatype != rhs.y_datatype || z_datatype != rhs.z_datatype || - intensity_datatype != rhs.intensity_datatype || x_count != rhs.x_count || - y_count != rhs.y_count || z_count != rhs.z_count || - intensity_count != rhs.intensity_count || is_bigendian != rhs.is_bigendian; - } -}; - enum NetworkIO { voxels = 0, num_points, coors, cls_score, dir_pred, bbox_pred, ENUM_SIZE }; // cspell: ignore divup diff --git a/perception/lidar_transfusion/lib/preprocess/pointcloud_densification.cpp b/perception/lidar_transfusion/lib/preprocess/pointcloud_densification.cpp index 774b3a05d71c1..c13423f2d24d8 100644 --- a/perception/lidar_transfusion/lib/preprocess/pointcloud_densification.cpp +++ b/perception/lidar_transfusion/lib/preprocess/pointcloud_densification.cpp @@ -93,16 +93,15 @@ void PointCloudDensification::enqueue( affine_world2current_ = affine_world2current; current_timestamp_ = rclcpp::Time(msg.header.stamp).seconds(); - assert(sizeof(uint8_t) * msg.width * msg.height * msg.point_step % sizeof(float) == 1); - auto points_d = cuda::make_unique( - sizeof(uint8_t) * msg.width * msg.height * msg.point_step / sizeof(float)); + auto data_d = cuda::make_unique( + sizeof(uint8_t) * msg.width * msg.height * msg.point_step / sizeof(uint8_t)); CHECK_CUDA_ERROR(cudaMemcpyAsync( - points_d.get(), msg.data.data(), sizeof(uint8_t) * msg.width * msg.height * msg.point_step, + data_d.get(), msg.data.data(), sizeof(uint8_t) * msg.width * msg.height * msg.point_step, cudaMemcpyHostToDevice, stream_)); PointCloudWithTransform pointcloud = { - std::move(points_d), msg.header, msg.width * msg.height, affine_world2current.inverse()}; + std::move(data_d), msg.header, msg.width * msg.height, affine_world2current.inverse()}; pointcloud_cache_.push_front(std::move(pointcloud)); } diff --git a/perception/lidar_transfusion/lib/preprocess/preprocess_kernel.cu b/perception/lidar_transfusion/lib/preprocess/preprocess_kernel.cu index b8f9ae998fd4f..48bb4eb9332a8 100644 --- a/perception/lidar_transfusion/lib/preprocess/preprocess_kernel.cu +++ b/perception/lidar_transfusion/lib/preprocess/preprocess_kernel.cu @@ -31,6 +31,8 @@ #include "lidar_transfusion/cuda_utils.hpp" #include "lidar_transfusion/preprocess/preprocess_kernel.hpp" +#include + namespace lidar_transfusion { @@ -99,9 +101,12 @@ __global__ void generateVoxels_random_kernel( cudaError_t PreprocessCuda::generateVoxels_random_launch( float * points, unsigned int points_size, unsigned int * mask, float * voxels) { - int threadNum = config_.threads_for_voxel_; - dim3 blocks((points_size + threadNum - 1) / threadNum); - dim3 threads(threadNum); + if (points_size == 0) { + return cudaGetLastError(); + } + dim3 blocks(divup(points_size, config_.threads_for_voxel_)); + dim3 threads(config_.threads_for_voxel_); + generateVoxels_random_kernel<<>>( points, points_size, config_.min_x_range_, config_.max_x_range_, config_.min_y_range_, config_.max_y_range_, config_.min_z_range_, config_.max_z_range_, config_.voxel_x_size_, @@ -165,40 +170,48 @@ cudaError_t PreprocessCuda::generateBaseFeatures_launch( } __global__ void generateSweepPoints_kernel( - const float * input_points, size_t points_size, int input_point_step, float time_lag, + const uint8_t * input_data, size_t points_size, int input_point_step, float time_lag, const float * transform_array, int num_features, float * output_points) { int point_idx = blockIdx.x * blockDim.x + threadIdx.x; if (point_idx >= points_size) return; - const float input_x = input_points[point_idx * input_point_step + 0]; - const float input_y = input_points[point_idx * input_point_step + 1]; - const float input_z = input_points[point_idx * input_point_step + 2]; - const float intensity = input_points[point_idx * input_point_step + 3]; - - output_points[point_idx * num_features] = transform_array[0] * input_x + - transform_array[4] * input_y + - transform_array[8] * input_z + transform_array[12]; - output_points[point_idx * num_features + 1] = transform_array[1] * input_x + - transform_array[5] * input_y + - transform_array[9] * input_z + transform_array[13]; - output_points[point_idx * num_features + 2] = transform_array[2] * input_x + - transform_array[6] * input_y + - transform_array[10] * input_z + transform_array[14]; - output_points[point_idx * num_features + 3] = intensity; + union { + uint32_t raw{0}; + float value; + } input_x, input_y, input_z; + +#pragma unroll + for (int i = 0; i < 4; i++) { // 4 bytes for float32 + input_x.raw |= input_data[point_idx * input_point_step + i] << i * 8; + input_y.raw |= input_data[point_idx * input_point_step + i + 4] << i * 8; + input_z.raw |= input_data[point_idx * input_point_step + i + 8] << i * 8; + } + + float input_intensity = static_cast(input_data[point_idx * input_point_step + 12]); + + output_points[point_idx * num_features] = + transform_array[0] * input_x.value + transform_array[4] * input_y.value + + transform_array[8] * input_z.value + transform_array[12]; + output_points[point_idx * num_features + 1] = + transform_array[1] * input_x.value + transform_array[5] * input_y.value + + transform_array[9] * input_z.value + transform_array[13]; + output_points[point_idx * num_features + 2] = + transform_array[2] * input_x.value + transform_array[6] * input_y.value + + transform_array[10] * input_z.value + transform_array[14]; + output_points[point_idx * num_features + 3] = input_intensity; output_points[point_idx * num_features + 4] = time_lag; } cudaError_t PreprocessCuda::generateSweepPoints_launch( - const float * input_points, size_t points_size, int input_point_step, float time_lag, + const uint8_t * input_data, size_t points_size, int input_point_step, float time_lag, const float * transform_array, float * output_points) { - int threadNum = config_.threads_for_voxel_; - dim3 blocks((points_size + threadNum - 1) / threadNum); - dim3 threads(threadNum); + dim3 blocks(divup(points_size, config_.threads_for_voxel_)); + dim3 threads(config_.threads_for_voxel_); generateSweepPoints_kernel<<>>( - input_points, points_size, input_point_step, time_lag, transform_array, + input_data, points_size, input_point_step, time_lag, transform_array, config_.num_point_feature_size_, output_points); cudaError_t err = cudaGetLastError(); diff --git a/perception/lidar_transfusion/lib/preprocess/voxel_generator.cpp b/perception/lidar_transfusion/lib/preprocess/voxel_generator.cpp index 7072e8491af66..cb8bac984aef3 100644 --- a/perception/lidar_transfusion/lib/preprocess/voxel_generator.cpp +++ b/perception/lidar_transfusion/lib/preprocess/voxel_generator.cpp @@ -23,25 +23,6 @@ namespace lidar_transfusion { -std::ostream & operator<<(std::ostream & os, const CloudInfo & info) -{ - os << "x_offset: " << static_cast(info.x_offset) << std::endl; - os << "y_offset: " << static_cast(info.y_offset) << std::endl; - os << "z_offset: " << static_cast(info.z_offset) << std::endl; - os << "intensity_offset: " << static_cast(info.intensity_offset) << std::endl; - os << "x_datatype: " << static_cast(info.x_datatype) << std::endl; - os << "y_datatype: " << static_cast(info.y_datatype) << std::endl; - os << "z_datatype: " << static_cast(info.z_datatype) << std::endl; - os << "intensity_datatype: " << static_cast(info.intensity_datatype) << std::endl; - os << "x_count: " << static_cast(info.x_count) << std::endl; - os << "y_count: " << static_cast(info.y_count) << std::endl; - os << "z_count: " << static_cast(info.z_count) << std::endl; - os << "intensity_count: " << static_cast(info.intensity_count) << std::endl; - os << "point_step: " << static_cast(info.point_step) << std::endl; - os << "is_bigendian: " << static_cast(info.is_bigendian) << std::endl; - return os; -} - VoxelGenerator::VoxelGenerator( const DensificationParam & densification_param, const TransfusionConfig & config, cudaStream_t & stream) @@ -106,8 +87,8 @@ std::size_t VoxelGenerator::generateSweepPoints( CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); pre_ptr_->generateSweepPoints_launch( - pc_cache_iter->points_d.get(), sweep_num_points, cloud_info_.point_step / sizeof(float), - time_lag, affine_past2current_d_.get(), points_d.get() + shift); + pc_cache_iter->data_d.get(), sweep_num_points, cloud_info_.point_step, time_lag, + affine_past2current_d_.get(), points_d.get() + shift); point_counter += sweep_num_points; } diff --git a/perception/lidar_transfusion/package.xml b/perception/lidar_transfusion/package.xml index ffbe091b998e5..3b495025b1c34 100644 --- a/perception/lidar_transfusion/package.xml +++ b/perception/lidar_transfusion/package.xml @@ -13,6 +13,7 @@ autoware_cmake autoware_perception_msgs + autoware_point_types autoware_universe_utils launch_ros object_recognition_utils diff --git a/perception/lidar_transfusion/test/test_detection_class_remapper.cpp b/perception/lidar_transfusion/test/test_detection_class_remapper.cpp new file mode 100644 index 0000000000000..6e7f896e44d2c --- /dev/null +++ b/perception/lidar_transfusion/test/test_detection_class_remapper.cpp @@ -0,0 +1,92 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include + +TEST(DetectionClassRemapperTest, MapClasses) +{ + lidar_transfusion::DetectionClassRemapper remapper; + + // Set up the parameters for the remapper + // Labels: CAR, TRUCK, TRAILER + std::vector allow_remapping_by_area_matrix = { + 0, 0, 0, // CAR cannot be remapped + 0, 0, 1, // TRUCK can be remapped to TRAILER + 0, 1, 0 // TRAILER can be remapped to TRUCK + }; + std::vector min_area_matrix = {0.0, 0.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0}; + std::vector max_area_matrix = {0.0, 0.0, 0.0, 0.0, 0.0, 999.0, 0.0, 10.0, 0.0}; + + remapper.setParameters(allow_remapping_by_area_matrix, min_area_matrix, max_area_matrix); + + // Create a DetectedObjects message with some objects + autoware_perception_msgs::msg::DetectedObjects msg; + + // CAR with area 4.0, which is out of the range for remapping + autoware_perception_msgs::msg::DetectedObject obj1; + autoware_perception_msgs::msg::ObjectClassification obj1_classification; + obj1.shape.dimensions.x = 2.0; + obj1.shape.dimensions.y = 2.0; + obj1_classification.label = 0; + obj1_classification.probability = 1.0; + obj1.classification = {obj1_classification}; + msg.objects.push_back(obj1); + + // TRUCK with area 16.0, which is in the range for remapping to TRAILER + autoware_perception_msgs::msg::DetectedObject obj2; + autoware_perception_msgs::msg::ObjectClassification obj2_classification; + obj2.shape.dimensions.x = 8.0; + obj2.shape.dimensions.y = 2.0; + obj2_classification.label = 1; + obj2_classification.probability = 1.0; + obj2.classification = {obj2_classification}; + msg.objects.push_back(obj2); + + // TRAILER with area 9.0, which is in the range for remapping to TRUCK + autoware_perception_msgs::msg::DetectedObject obj3; + autoware_perception_msgs::msg::ObjectClassification obj3_classification; + obj3.shape.dimensions.x = 3.0; + obj3.shape.dimensions.y = 3.0; + obj3_classification.label = 2; + obj3_classification.probability = 1.0; + obj3.classification = {obj3_classification}; + msg.objects.push_back(obj3); + + // TRAILER with area 12.0, which is out of the range for remapping + autoware_perception_msgs::msg::DetectedObject obj4; + autoware_perception_msgs::msg::ObjectClassification obj4_classification; + obj4.shape.dimensions.x = 4.0; + obj4.shape.dimensions.y = 3.0; + obj4_classification.label = 2; + obj4_classification.probability = 1.0; + obj4.classification = {obj4_classification}; + msg.objects.push_back(obj4); + + // Call the mapClasses function + remapper.mapClasses(msg); + + // Check the remapped labels + EXPECT_EQ(msg.objects[0].classification[0].label, 0); + EXPECT_EQ(msg.objects[1].classification[0].label, 2); + EXPECT_EQ(msg.objects[2].classification[0].label, 1); + EXPECT_EQ(msg.objects[3].classification[0].label, 2); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_transfusion/test/test_nms.cpp b/perception/lidar_transfusion/test/test_nms.cpp new file mode 100644 index 0000000000000..b6f0ec8c31684 --- /dev/null +++ b/perception/lidar_transfusion/test/test_nms.cpp @@ -0,0 +1,121 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "lidar_transfusion/postprocess/non_maximum_suppression.hpp" + +#include + +TEST(NonMaximumSuppressionTest, Apply) +{ + lidar_transfusion::NonMaximumSuppression nms; + lidar_transfusion::NMSParams params; + params.search_distance_2d_ = 1.0; + params.iou_threshold_ = 0.2; + params.nms_type_ = lidar_transfusion::NMS_TYPE::IoU_BEV; + params.target_class_names_ = {"CAR"}; + nms.setParameters(params); + + std::vector input_objects(4); + + // Object 1 + autoware_perception_msgs::msg::ObjectClassification obj1_classification; + obj1_classification.label = 0; // Assuming "car" has label 0 + obj1_classification.probability = 1.0; + input_objects[0].classification = {obj1_classification}; // Assuming "car" has label 0 + input_objects[0].kinematics.pose_with_covariance.pose.position.x = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.position.y = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.orientation.x = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.orientation.y = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.orientation.z = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.orientation.w = 1.0; + input_objects[0].shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + input_objects[0].shape.dimensions.x = 4.0; + input_objects[0].shape.dimensions.y = 2.0; + + // Object 2 (overlaps with Object 1) + autoware_perception_msgs::msg::ObjectClassification obj2_classification; + obj2_classification.label = 0; // Assuming "car" has label 0 + obj2_classification.probability = 1.0; + input_objects[1].classification = {obj2_classification}; // Assuming "car" has label 0 + input_objects[1].kinematics.pose_with_covariance.pose.position.x = 0.5; + input_objects[1].kinematics.pose_with_covariance.pose.position.y = 0.5; + input_objects[1].kinematics.pose_with_covariance.pose.orientation.x = 0.0; + input_objects[1].kinematics.pose_with_covariance.pose.orientation.y = 0.0; + input_objects[1].kinematics.pose_with_covariance.pose.orientation.z = 0.0; + input_objects[1].kinematics.pose_with_covariance.pose.orientation.w = 1.0; + input_objects[1].shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + input_objects[1].shape.dimensions.x = 4.0; + input_objects[1].shape.dimensions.y = 2.0; + + // Object 3 + autoware_perception_msgs::msg::ObjectClassification obj3_classification; + obj3_classification.label = 0; // Assuming "car" has label 0 + obj3_classification.probability = 1.0; + input_objects[2].classification = {obj3_classification}; // Assuming "car" has label 0 + input_objects[2].kinematics.pose_with_covariance.pose.position.x = 5.0; + input_objects[2].kinematics.pose_with_covariance.pose.position.y = 5.0; + input_objects[2].kinematics.pose_with_covariance.pose.orientation.x = 0.0; + input_objects[2].kinematics.pose_with_covariance.pose.orientation.y = 0.0; + input_objects[2].kinematics.pose_with_covariance.pose.orientation.z = 0.0; + input_objects[2].kinematics.pose_with_covariance.pose.orientation.w = 1.0; + input_objects[2].shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + input_objects[2].shape.dimensions.x = 4.0; + input_objects[2].shape.dimensions.y = 2.0; + + // Object 4 (different class) + autoware_perception_msgs::msg::ObjectClassification obj4_classification; + obj4_classification.label = 1; // Assuming "pedestrian" has label 1 + obj4_classification.probability = 1.0; + input_objects[3].classification = {obj4_classification}; // Assuming "pedestrian" has label 1 + input_objects[3].kinematics.pose_with_covariance.pose.position.x = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.position.y = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.orientation.x = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.orientation.y = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.orientation.z = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.orientation.w = 1.0; + input_objects[3].shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + input_objects[3].shape.dimensions.x = 0.5; + input_objects[3].shape.dimensions.y = 0.5; + + std::vector output_objects = nms.apply(input_objects); + + // Assert the expected number of output objects + EXPECT_EQ(output_objects.size(), 3); + + // Assert that input_objects[2] is included in the output_objects + bool is_input_object_2_included = false; + for (const auto & output_object : output_objects) { + if (output_object == input_objects[2]) { + is_input_object_2_included = true; + break; + } + } + EXPECT_TRUE(is_input_object_2_included); + + // Assert that input_objects[3] is included in the output_objects + bool is_input_object_3_included = false; + for (const auto & output_object : output_objects) { + if (output_object == input_objects[3]) { + is_input_object_3_included = true; + break; + } + } + EXPECT_TRUE(is_input_object_3_included); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_transfusion/test/test_postprocess_kernel.cpp b/perception/lidar_transfusion/test/test_postprocess_kernel.cpp new file mode 100644 index 0000000000000..1e01db5a8b3d7 --- /dev/null +++ b/perception/lidar_transfusion/test/test_postprocess_kernel.cpp @@ -0,0 +1,299 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "test_postprocess_kernel.hpp" + +#include + +#include +#include + +namespace lidar_transfusion +{ + +void PostprocessKernelTest::SetUp() +{ + cudaStreamCreate(&stream_); + + auto voxels_num = std::vector{1, 3, 5}; + auto point_cloud_range = std::vector{-76.8, -76.8, -3.0, 76.8, 76.8, 5.0}; + auto voxel_size = std::vector{0.3, 0.3, 8.0}; + auto score_threshold = 0.2f; + auto circle_nms_dist_threshold = 0.5f; + auto yaw_norm_thresholds = std::vector{0.5, 0.5, 0.5}; + config_ptr_ = std::make_unique( + voxels_num, point_cloud_range, voxel_size, circle_nms_dist_threshold, yaw_norm_thresholds, + score_threshold); + post_ptr_ = std::make_unique(*config_ptr_, stream_); + + cls_size_ = config_ptr_->num_proposals_ * config_ptr_->num_classes_; + box_size_ = config_ptr_->num_proposals_ * config_ptr_->num_box_values_; + dir_cls_size_ = config_ptr_->num_proposals_ * 2; // x, y + + cls_output_d_ = cuda::make_unique(cls_size_); + box_output_d_ = cuda::make_unique(box_size_); + dir_cls_output_d_ = cuda::make_unique(dir_cls_size_); + + cuda::clear_async(cls_output_d_.get(), cls_size_, stream_); + cuda::clear_async(box_output_d_.get(), box_size_, stream_); + cuda::clear_async(dir_cls_output_d_.get(), dir_cls_size_, stream_); + CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); +} + +void PostprocessKernelTest::TearDown() +{ +} + +TEST_F(PostprocessKernelTest, EmptyTensorTest) +{ + std::vector det_boxes3d; + + CHECK_CUDA_ERROR(post_ptr_->generateDetectedBoxes3D_launch( + cls_output_d_.get(), box_output_d_.get(), dir_cls_output_d_.get(), det_boxes3d, stream_)); + + EXPECT_EQ(0, det_boxes3d.size()); +} + +TEST_F(PostprocessKernelTest, SingleDetectionTest) +{ + cuda::clear_async(cls_output_d_.get(), cls_size_, stream_); + cuda::clear_async(box_output_d_.get(), box_size_, stream_); + cuda::clear_async(dir_cls_output_d_.get(), dir_cls_size_, stream_); + CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); + + std::vector det_boxes3d; + unsigned int det_idx = 42; + unsigned int cls_idx = 2; + + constexpr float detection_score = 1.f; + constexpr float detection_x = 50.f; + constexpr float detection_y = -38.4f; + constexpr float detection_z = 1.0; + const float detection_raw_x = (detection_x - config_ptr_->min_x_range_) / + (config_ptr_->num_point_values_ * config_ptr_->voxel_x_size_); + const float detection_raw_y = (detection_y - config_ptr_->min_y_range_) / + (config_ptr_->num_point_values_ * config_ptr_->voxel_y_size_); + const float detection_raw_z = detection_z; + + constexpr float detection_w = 3.2f; + constexpr float detection_l = 9.3f; + constexpr float detection_h = 1.7f; + constexpr float detection_log_w = std::log(detection_w); + constexpr float detection_log_l = std::log(detection_l); + constexpr float detection_log_h = std::log(detection_h); + + constexpr float detection_yaw = M_PI_4; + constexpr float detection_yaw_sin = std::sin(detection_yaw); + constexpr float detection_yaw_cos = std::cos(detection_yaw); + + // Set the values in the cuda tensor + cudaMemcpy( + &cls_output_d_[cls_idx * config_ptr_->num_proposals_ + det_idx], &detection_score, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &dir_cls_output_d_[det_idx], &detection_yaw_sin, 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &dir_cls_output_d_[det_idx + config_ptr_->num_proposals_], &detection_yaw_cos, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy(&box_output_d_[det_idx], &detection_raw_x, 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + config_ptr_->num_proposals_], &detection_raw_y, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + 2 * config_ptr_->num_proposals_], &detection_raw_z, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + 3 * config_ptr_->num_proposals_], &detection_log_w, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + 4 * config_ptr_->num_proposals_], &detection_log_l, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + 5 * config_ptr_->num_proposals_], &detection_log_h, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + auto code1 = cudaGetLastError(); + ASSERT_EQ(cudaSuccess, code1); + + // Extract the boxes + auto code2 = post_ptr_->generateDetectedBoxes3D_launch( + cls_output_d_.get(), box_output_d_.get(), dir_cls_output_d_.get(), det_boxes3d, stream_); + CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); + + ASSERT_EQ(cudaSuccess, code2); + ASSERT_EQ(1, det_boxes3d.size()); + + const auto det_box3d = det_boxes3d[0]; + EXPECT_EQ(cls_idx, det_box3d.label); + EXPECT_EQ(detection_score, det_box3d.score); + EXPECT_EQ(detection_x, det_box3d.x); + EXPECT_EQ(detection_y, det_box3d.y); + EXPECT_EQ(detection_z, det_box3d.z); + EXPECT_NEAR(detection_w, det_box3d.width, 1e-6); + EXPECT_NEAR(detection_l, det_box3d.length, 1e-6); + EXPECT_NEAR(detection_h, det_box3d.height, 1e-6); + EXPECT_EQ(detection_yaw, det_box3d.yaw); +} + +TEST_F(PostprocessKernelTest, InvalidYawTest) +{ + cuda::clear_async(cls_output_d_.get(), cls_size_, stream_); + cuda::clear_async(box_output_d_.get(), box_size_, stream_); + cuda::clear_async(dir_cls_output_d_.get(), dir_cls_size_, stream_); + CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); + + std::vector det_boxes3d; + unsigned int det_idx = 42; + unsigned int cls_idx = 2; + + constexpr float detection_score = 1.f; + constexpr float detection_x = 50.f; + constexpr float detection_y = -38.4f; + constexpr float detection_z = 1.0; + const float detection_raw_x = (detection_x - config_ptr_->min_x_range_) / + (config_ptr_->num_point_values_ * config_ptr_->voxel_x_size_); + const float detection_raw_y = (detection_y - config_ptr_->min_y_range_) / + (config_ptr_->num_point_values_ * config_ptr_->voxel_y_size_); + const float detection_raw_z = detection_z; + + constexpr float detection_w = 3.2f; + constexpr float detection_l = 9.3f; + constexpr float detection_h = 1.7f; + constexpr float detection_log_w = std::log(detection_w); + constexpr float detection_log_l = std::log(detection_l); + constexpr float detection_log_h = std::log(detection_h); + + constexpr float detection_yaw_sin = 0.f; + constexpr float detection_yaw_cos = 0.2f; + + // Set the values in the cuda tensor + cudaMemcpy( + &cls_output_d_[cls_idx * config_ptr_->num_proposals_ + det_idx], &detection_score, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &dir_cls_output_d_[det_idx], &detection_yaw_sin, 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &dir_cls_output_d_[det_idx + config_ptr_->num_proposals_], &detection_yaw_cos, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy(&box_output_d_[det_idx], &detection_raw_x, 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + config_ptr_->num_proposals_], &detection_raw_y, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + 2 * config_ptr_->num_proposals_], &detection_raw_z, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + 3 * config_ptr_->num_proposals_], &detection_log_w, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + 4 * config_ptr_->num_proposals_], &detection_log_l, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + 5 * config_ptr_->num_proposals_], &detection_log_h, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + auto code1 = cudaGetLastError(); + ASSERT_EQ(cudaSuccess, code1); + + // Extract the boxes + auto code2 = post_ptr_->generateDetectedBoxes3D_launch( + cls_output_d_.get(), box_output_d_.get(), dir_cls_output_d_.get(), det_boxes3d, stream_); + CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); + + ASSERT_EQ(cudaSuccess, code2); + EXPECT_EQ(0, det_boxes3d.size()); +} + +TEST_F(PostprocessKernelTest, CircleNMSTest) +{ + cuda::clear_async(cls_output_d_.get(), cls_size_, stream_); + cuda::clear_async(box_output_d_.get(), box_size_, stream_); + cuda::clear_async(dir_cls_output_d_.get(), dir_cls_size_, stream_); + CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); + + std::vector det_boxes3d; + unsigned int det_idx = 42; + unsigned int det_num = 2; + unsigned int cls_idx = 2; + + constexpr float detection_score = 1.f; + constexpr float detection_x = 50.f; + constexpr float detection_y = -38.4f; + constexpr float detection_z = 1.0; + const float detection_raw_x = (detection_x - config_ptr_->min_x_range_) / + (config_ptr_->num_point_values_ * config_ptr_->voxel_x_size_); + const float detection_raw_y = (detection_y - config_ptr_->min_y_range_) / + (config_ptr_->num_point_values_ * config_ptr_->voxel_y_size_); + const float detection_raw_z = detection_z; + + constexpr float detection_w = 3.2f; + constexpr float detection_l = 9.3f; + constexpr float detection_h = 1.7f; + constexpr float detection_log_w = std::log(detection_w); + constexpr float detection_log_l = std::log(detection_l); + constexpr float detection_log_h = std::log(detection_h); + + constexpr float detection_yaw = M_PI_4; + constexpr float detection_yaw_sin = std::sin(detection_yaw); + constexpr float detection_yaw_cos = std::cos(detection_yaw); + + // Set the values in the cuda tensor for 2 detections + for (std::size_t i = 0; i < det_num; ++i) { + cudaMemcpy( + &cls_output_d_[cls_idx * config_ptr_->num_proposals_ + det_idx + i], &detection_score, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &dir_cls_output_d_[det_idx + i], &detection_yaw_sin, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &dir_cls_output_d_[det_idx + i + config_ptr_->num_proposals_], &detection_yaw_cos, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + i], &detection_raw_x, 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + i + config_ptr_->num_proposals_], &detection_raw_y, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + i + 2 * config_ptr_->num_proposals_], &detection_raw_z, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + i + 3 * config_ptr_->num_proposals_], &detection_log_w, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + i + 4 * config_ptr_->num_proposals_], &detection_log_l, + 1 * sizeof(float), cudaMemcpyHostToDevice); + cudaMemcpy( + &box_output_d_[det_idx + i + 5 * config_ptr_->num_proposals_], &detection_log_h, + 1 * sizeof(float), cudaMemcpyHostToDevice); + } + + auto code1 = cudaGetLastError(); + ASSERT_EQ(cudaSuccess, code1); + + // Extract the boxes + auto code2 = post_ptr_->generateDetectedBoxes3D_launch( + cls_output_d_.get(), box_output_d_.get(), dir_cls_output_d_.get(), det_boxes3d, stream_); + CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); + + ASSERT_EQ(cudaSuccess, code2); + EXPECT_EQ(1, det_boxes3d.size()); +} + +} // namespace lidar_transfusion + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_transfusion/test/test_postprocess_kernel.hpp b/perception/lidar_transfusion/test/test_postprocess_kernel.hpp new file mode 100644 index 0000000000000..60fa7882ecc11 --- /dev/null +++ b/perception/lidar_transfusion/test/test_postprocess_kernel.hpp @@ -0,0 +1,48 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_POSTPROCESS_KERNEL_HPP_ +#define TEST_POSTPROCESS_KERNEL_HPP_ + +#include +#include + +#include + +#include + +namespace lidar_transfusion +{ + +class PostprocessKernelTest : public testing::Test +{ +public: + void SetUp() override; + void TearDown() override; + + std::unique_ptr post_ptr_{nullptr}; + std::unique_ptr config_ptr_{}; + cudaStream_t stream_{}; + + unsigned int cls_size_{0}; + unsigned int box_size_{0}; + unsigned int dir_cls_size_{0}; + cuda::unique_ptr cls_output_d_{nullptr}; + cuda::unique_ptr box_output_d_{nullptr}; + cuda::unique_ptr dir_cls_output_d_{nullptr}; +}; + +} // namespace lidar_transfusion + +#endif // TEST_POSTPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_transfusion/test/test_preprocess_kernel.cpp b/perception/lidar_transfusion/test/test_preprocess_kernel.cpp new file mode 100644 index 0000000000000..c1c2a824f0f53 --- /dev/null +++ b/perception/lidar_transfusion/test/test_preprocess_kernel.cpp @@ -0,0 +1,265 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "test_preprocess_kernel.hpp" + +#include "lidar_transfusion/cuda_utils.hpp" + +#include + +#include +#include +#include + +#include +#include + +namespace lidar_transfusion +{ + +void PreprocessKernelTest::SetUp() +{ + cudaStreamCreate(&stream_); + + auto voxels_num = std::vector{1, 3, 5}; + auto point_cloud_range = std::vector{-76.8, -76.8, -3.0, 76.8, 76.8, 5.0}; + auto voxel_size = std::vector{0.3, 0.3, 8.0}; + auto score_threshold = 0.2f; + auto circle_nms_dist_threshold = 0.5f; + auto yaw_norm_thresholds = std::vector{0.5, 0.5, 0.5}; + config_ptr_ = std::make_unique( + voxels_num, point_cloud_range, voxel_size, circle_nms_dist_threshold, yaw_norm_thresholds, + score_threshold); + pre_ptr_ = std::make_unique(*config_ptr_, stream_); + + voxel_features_size_ = config_ptr_->max_voxels_ * config_ptr_->max_num_points_per_pillar_ * + config_ptr_->num_point_feature_size_; + voxel_num_size_ = config_ptr_->max_voxels_; + voxel_idxs_size_ = config_ptr_->max_voxels_ * config_ptr_->num_point_values_; + + params_input_d_ = cuda::make_unique(); + voxel_features_d_ = cuda::make_unique(voxel_features_size_); + voxel_num_d_ = cuda::make_unique(voxel_num_size_); + voxel_idxs_d_ = cuda::make_unique(voxel_idxs_size_); + points_d_ = + cuda::make_unique(config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_); + + cuda::clear_async(voxel_features_d_.get(), voxel_features_size_, stream_); + cuda::clear_async(voxel_num_d_.get(), voxel_num_size_, stream_); + cuda::clear_async(voxel_idxs_d_.get(), voxel_idxs_size_, stream_); + cuda::clear_async(params_input_d_.get(), 1, stream_); + cuda::clear_async( + points_d_.get(), config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_, stream_); + CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); +} + +void PreprocessKernelTest::TearDown() +{ +} + +TEST_F(PreprocessKernelTest, EmptyVoxelTest) +{ + std::vector points{}; + std::size_t count = 0; + + pre_ptr_->generateVoxels( + points_d_.get(), count, params_input_d_.get(), voxel_features_d_.get(), voxel_num_d_.get(), + voxel_idxs_d_.get()); + unsigned int params_input; + auto code1 = cudaStreamSynchronize(stream_); + + auto code2 = cudaMemcpyAsync( + ¶ms_input, params_input_d_.get(), sizeof(unsigned int), cudaMemcpyDeviceToHost, stream_); + CHECK_CUDA_ERROR(cudaStreamSynchronize(stream_)); + + auto code3 = cudaMemcpy( + points_d_.get(), points.data(), count * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice); + + ASSERT_EQ(cudaSuccess, code1); + ASSERT_EQ(cudaSuccess, code2); + ASSERT_EQ(cudaSuccess, code3); + + EXPECT_EQ(0, params_input); +} + +TEST_F(PreprocessKernelTest, BasicTest) +{ + cuda::clear_async(voxel_features_d_.get(), voxel_features_size_, stream_); + cuda::clear_async(voxel_num_d_.get(), voxel_num_size_, stream_); + cuda::clear_async(voxel_idxs_d_.get(), voxel_idxs_size_, stream_); + cuda::clear_async(params_input_d_.get(), 1, stream_); + cuda::clear_async( + points_d_.get(), config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_, stream_); + cudaStreamSynchronize(stream_); + + std::vector point1{25.f, -61.1f, 1.8f, 42.0, 0.1f}; + std::vector point2{-31.6f, 1.1f, 2.8f, 77.0, 0.1f}; + std::vector point3{42.6f, 15.1f, -0.1f, 3.0, 0.1f}; + + std::vector points; + points.reserve(point1.size() + point2.size() + point3.size()); + points.insert(points.end(), point1.begin(), point1.end()); + points.insert(points.end(), point2.begin(), point2.end()); + points.insert(points.end(), point3.begin(), point3.end()); + std::size_t count = 3; + + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), count * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + // Compute the total amount of voxels filled + pre_ptr_->generateVoxels( + points_d_.get(), count, params_input_d_.get(), voxel_features_d_.get(), voxel_num_d_.get(), + voxel_idxs_d_.get()); + + unsigned int params_input; + CHECK_CUDA_ERROR( + cudaMemcpy(¶ms_input, params_input_d_.get(), sizeof(unsigned int), cudaMemcpyDeviceToHost)); + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), count * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + ASSERT_EQ(count, params_input); + + // Check if voxels were filled + unsigned int voxel_num; + + for (std::size_t i = 0; i < count; ++i) { + CHECK_CUDA_ERROR( + cudaMemcpy(&voxel_num, voxel_num_d_.get() + i, sizeof(unsigned int), cudaMemcpyDeviceToHost)); + EXPECT_EQ(1, voxel_num); + } + + // Check grid indices + thrust::host_vector voxel_idxs(config_ptr_->num_point_values_ * count, 0); + unsigned int voxel_idx_gt; + unsigned int voxel_idy_gt; + CHECK_CUDA_ERROR(cudaMemcpy( + voxel_idxs.data(), voxel_idxs_d_.get(), + config_ptr_->num_point_values_ * count * sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + for (std::size_t i = 0; i < count; ++i) { + voxel_idx_gt = std::floor( + (points[config_ptr_->num_point_feature_size_ * i + 0] - config_ptr_->min_x_range_) / + config_ptr_->voxel_x_size_); + voxel_idy_gt = std::floor( + (points[config_ptr_->num_point_feature_size_ * i + 1] - config_ptr_->min_y_range_) / + config_ptr_->voxel_y_size_); + + EXPECT_EQ( + voxel_idx_gt, + voxel_idxs[config_ptr_->num_point_values_ * i + 3]); // {0, 0, voxel_idy, VOXEL_IDX} + EXPECT_EQ( + voxel_idy_gt, + voxel_idxs[config_ptr_->num_point_values_ * i + 2]); // {0, 0, VOXEL_IDY, voxel_idx} + } + + // Check voxel features + thrust::host_vector voxel_features( + count * config_ptr_->max_num_points_per_pillar_ * config_ptr_->num_point_feature_size_, 0.f); + CHECK_CUDA_ERROR(cudaMemcpy( + voxel_features.data(), voxel_features_d_.get(), + count * config_ptr_->max_num_points_per_pillar_ * config_ptr_->num_point_feature_size_ * + sizeof(float), + cudaMemcpyDeviceToHost)); + + for (std::size_t i = 0; i < count; ++i) { + for (std::size_t j = 0; j < config_ptr_->num_point_feature_size_; ++j) { + EXPECT_EQ( + points[config_ptr_->num_point_feature_size_ * i + j], + voxel_features + [i * config_ptr_->max_num_points_per_pillar_ * config_ptr_->num_point_feature_size_ + j]); + } + } +} + +TEST_F(PreprocessKernelTest, OutOfRangeTest) +{ + cuda::clear_async(voxel_features_d_.get(), voxel_features_size_, stream_); + cuda::clear_async(voxel_num_d_.get(), voxel_num_size_, stream_); + cuda::clear_async(voxel_idxs_d_.get(), voxel_idxs_size_, stream_); + cuda::clear_async(params_input_d_.get(), 1, stream_); + cuda::clear_async( + points_d_.get(), config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_, stream_); + cudaStreamSynchronize(stream_); + + std::vector points{25.f, config_ptr_->max_y_range_ + 0.1f, 2.1f, 55.f, 0.1f}; + std::size_t count = 0; + + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), count * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + pre_ptr_->generateVoxels( + points_d_.get(), count, params_input_d_.get(), voxel_features_d_.get(), voxel_num_d_.get(), + voxel_idxs_d_.get()); + + unsigned int params_input; + CHECK_CUDA_ERROR( + cudaMemcpy(¶ms_input, params_input_d_.get(), sizeof(unsigned int), cudaMemcpyDeviceToHost)); + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), count * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + EXPECT_EQ(count, params_input); +} + +TEST_F(PreprocessKernelTest, VoxelOverflowTest) +{ + cuda::clear_async(voxel_features_d_.get(), voxel_features_size_, stream_); + cuda::clear_async(voxel_num_d_.get(), voxel_num_size_, stream_); + cuda::clear_async(voxel_idxs_d_.get(), voxel_idxs_size_, stream_); + cuda::clear_async(params_input_d_.get(), 1, stream_); + cuda::clear_async( + points_d_.get(), config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_, stream_); + cudaStreamSynchronize(stream_); + + std::vector point{config_ptr_->min_x_range_, -61.1f, 1.8f, 42.f, 0.1f}; + std::size_t count = config_ptr_->max_voxels_ + 1; + std::vector points{}; + points.reserve(count * config_ptr_->num_point_feature_size_); + + for (std::size_t i = 0; i < count; ++i) { + points.insert(points.end(), point.begin(), point.end()); + point[0] += config_ptr_->voxel_x_size_; + } + + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), count * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + pre_ptr_->generateVoxels( + points_d_.get(), count, params_input_d_.get(), voxel_features_d_.get(), voxel_num_d_.get(), + voxel_idxs_d_.get()); + + ASSERT_EQ(cudaSuccess, cudaGetLastError()); + + unsigned int params_input; + CHECK_CUDA_ERROR( + cudaMemcpy(¶ms_input, params_input_d_.get(), sizeof(unsigned int), cudaMemcpyDeviceToHost)); + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), count * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + EXPECT_EQ(config_ptr_->max_voxels_, params_input); +} + +} // namespace lidar_transfusion + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_transfusion/test/test_preprocess_kernel.hpp b/perception/lidar_transfusion/test/test_preprocess_kernel.hpp new file mode 100644 index 0000000000000..024fae5eae4b1 --- /dev/null +++ b/perception/lidar_transfusion/test/test_preprocess_kernel.hpp @@ -0,0 +1,50 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_PREPROCESS_KERNEL_HPP_ +#define TEST_PREPROCESS_KERNEL_HPP_ + +#include +#include + +#include + +#include + +namespace lidar_transfusion +{ + +class PreprocessKernelTest : public testing::Test +{ +public: + void SetUp() override; + void TearDown() override; + + std::unique_ptr pre_ptr_{nullptr}; + std::unique_ptr config_ptr_{}; + cudaStream_t stream_{}; + + unsigned int voxel_features_size_{0}; + unsigned int voxel_num_size_{0}; + unsigned int voxel_idxs_size_{0}; + cuda::unique_ptr points_d_{nullptr}; + cuda::unique_ptr params_input_d_{nullptr}; + cuda::unique_ptr voxel_features_d_{nullptr}; + cuda::unique_ptr voxel_num_d_{nullptr}; + cuda::unique_ptr voxel_idxs_d_{nullptr}; +}; + +} // namespace lidar_transfusion + +#endif // TEST_PREPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_transfusion/test/test_ros_utils.cpp b/perception/lidar_transfusion/test/test_ros_utils.cpp new file mode 100644 index 0000000000000..15541e6353b42 --- /dev/null +++ b/perception/lidar_transfusion/test/test_ros_utils.cpp @@ -0,0 +1,104 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "lidar_transfusion/ros_utils.hpp" + +#include + +TEST(TestSuite, box3DToDetectedObject) +{ + std::vector class_names = {"CAR", "TRUCK", "BUS", "TRAILER", + "BICYCLE", "MOTORCYCLE", "PEDESTRIAN"}; + + // Test case 1: Test with valid label + { + lidar_transfusion::Box3D box3d; + box3d.label = 0; // CAR + box3d.score = 0.8f; + box3d.x = 1.0; + box3d.y = 2.0; + box3d.z = 3.0; + box3d.width = 2.0; + box3d.height = 1.5; + box3d.length = 4.0; + box3d.yaw = 0.5; + + autoware_perception_msgs::msg::DetectedObject obj; + lidar_transfusion::box3DToDetectedObject(box3d, class_names, obj); + + EXPECT_FLOAT_EQ(obj.existence_probability, 0.8f); + EXPECT_EQ( + obj.classification[0].label, autoware_perception_msgs::msg::ObjectClassification::CAR); + EXPECT_FLOAT_EQ(obj.kinematics.pose_with_covariance.pose.position.x, 1.0); + EXPECT_FLOAT_EQ(obj.kinematics.pose_with_covariance.pose.position.y, 2.0); + EXPECT_FLOAT_EQ(obj.kinematics.pose_with_covariance.pose.position.z, 3.0); + EXPECT_FLOAT_EQ(obj.shape.dimensions.x, 4.0); + EXPECT_FLOAT_EQ(obj.shape.dimensions.y, 2.0); + EXPECT_FLOAT_EQ(obj.shape.dimensions.z, 1.5); + EXPECT_FALSE(obj.kinematics.has_position_covariance); + EXPECT_FALSE(obj.kinematics.has_twist); + EXPECT_FALSE(obj.kinematics.has_twist_covariance); + } + + // Test case 2: Test with invalid label + { + lidar_transfusion::Box3D box3d; + box3d.score = 0.5f; + box3d.label = 10; // Invalid + + autoware_perception_msgs::msg::DetectedObject obj; + lidar_transfusion::box3DToDetectedObject(box3d, class_names, obj); + + EXPECT_FLOAT_EQ(obj.existence_probability, 0.5f); + EXPECT_EQ( + obj.classification[0].label, autoware_perception_msgs::msg::ObjectClassification::UNKNOWN); + EXPECT_FALSE(obj.kinematics.has_position_covariance); + EXPECT_FALSE(obj.kinematics.has_twist); + EXPECT_FALSE(obj.kinematics.has_twist_covariance); + } +} + +TEST(TestSuite, getSemanticType) +{ + EXPECT_EQ( + lidar_transfusion::getSemanticType("CAR"), + autoware_perception_msgs::msg::ObjectClassification::CAR); + EXPECT_EQ( + lidar_transfusion::getSemanticType("TRUCK"), + autoware_perception_msgs::msg::ObjectClassification::TRUCK); + EXPECT_EQ( + lidar_transfusion::getSemanticType("BUS"), + autoware_perception_msgs::msg::ObjectClassification::BUS); + EXPECT_EQ( + lidar_transfusion::getSemanticType("TRAILER"), + autoware_perception_msgs::msg::ObjectClassification::TRAILER); + EXPECT_EQ( + lidar_transfusion::getSemanticType("MOTORCYCLE"), + autoware_perception_msgs::msg::ObjectClassification::MOTORCYCLE); + EXPECT_EQ( + lidar_transfusion::getSemanticType("BICYCLE"), + autoware_perception_msgs::msg::ObjectClassification::BICYCLE); + EXPECT_EQ( + lidar_transfusion::getSemanticType("PEDESTRIAN"), + autoware_perception_msgs::msg::ObjectClassification::PEDESTRIAN); + EXPECT_EQ( + lidar_transfusion::getSemanticType("UNKNOWN"), + autoware_perception_msgs::msg::ObjectClassification::UNKNOWN); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_transfusion/test/test_voxel_generator.cpp b/perception/lidar_transfusion/test/test_voxel_generator.cpp new file mode 100644 index 0000000000000..2673a341b3721 --- /dev/null +++ b/perception/lidar_transfusion/test/test_voxel_generator.cpp @@ -0,0 +1,284 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "test_voxel_generator.hpp" + +#include "gtest/gtest.h" +#include "lidar_transfusion/transfusion_config.hpp" +#include "lidar_transfusion/utils.hpp" + +#include + +#include "sensor_msgs/point_cloud2_iterator.hpp" + +namespace lidar_transfusion +{ + +void VoxelGeneratorTest::SetUp() +{ + // Setup things that should occur before every test instance should go here + node_ = std::make_shared("voxel_generator_test_node"); + + world_frame_ = "map"; + lidar_frame_ = "lidar"; + delta_pointcloud_x_ = 1.0; + points_per_pointcloud_ = 300; + + voxels_num_ = std::vector{5000, 30000, 60000}; + point_cloud_range_ = std::vector{-76.8, -76.8, -3.0, 76.8, 76.8, 5.0}; + voxel_size_ = std::vector{0.3, 0.3, 8.0}; + score_threshold_ = 0.2f; + circle_nms_dist_threshold_ = 0.5f; + yaw_norm_thresholds_ = std::vector{0.5, 0.5, 0.5}; + config_ptr_ = std::make_unique( + voxels_num_, point_cloud_range_, voxel_size_, circle_nms_dist_threshold_, yaw_norm_thresholds_, + score_threshold_); + + cloud1_ = std::make_unique(); + cloud2_ = std::make_unique(); + + // Set up the fields + point_cloud_msg_wrapper::PointCloud2Modifier< + autoware_point_types::PointXYZIRCAEDT, autoware_point_types::PointXYZIRCAEDTGenerator> + modifier{*cloud1_, lidar_frame_}; + + // Resize the cloud to hold points_per_pointcloud_ points + modifier.resize(points_per_pointcloud_); + + // Create an iterator for desired fields + sensor_msgs::PointCloud2Iterator iter_x(*cloud1_, "x"); + sensor_msgs::PointCloud2Iterator iter_y(*cloud1_, "y"); + sensor_msgs::PointCloud2Iterator iter_z(*cloud1_, "z"); + sensor_msgs::PointCloud2Iterator iter_i(*cloud1_, "intensity"); + + // Populate the point cloud + for (size_t i = 0; i < modifier.size(); ++i, ++iter_x, ++iter_y, ++iter_z) { + *iter_x = static_cast(i); + *iter_y = static_cast(i); + *iter_z = static_cast(i); + } + for (size_t i = 0; i < modifier.size(); ++i, ++iter_i) { + *iter_i = static_cast(i % 256); + } + + *cloud2_ = *cloud1_; + + // Set the stamps for the point clouds. They usually come every 100ms + cloud1_->header.stamp.sec = 1; + cloud1_->header.stamp.nanosec = 100'000'000; + cloud2_->header.stamp.sec = 1; + cloud2_->header.stamp.nanosec = 200'000'000; + + tf2_buffer_ = std::make_unique(node_->get_clock()); + tf2_buffer_->setUsingDedicatedThread(true); + + // The vehicle moves 1m/s in the x direction + const double world_origin_x = 6'371'000.0; + const double world_origin_y = 1'371'000.0; + + transform1_.header.stamp = cloud1_->header.stamp; + transform1_.header.frame_id = world_frame_; + transform1_.child_frame_id = lidar_frame_; + transform1_.transform.translation.x = world_origin_x; + transform1_.transform.translation.y = world_origin_y; + transform1_.transform.translation.z = 1.8; + transform1_.transform.rotation.x = 0.0; + transform1_.transform.rotation.y = 0.0; + transform1_.transform.rotation.z = 0.0; + transform1_.transform.rotation.w = 1.0; + + transform2_ = transform1_; + transform2_.header.stamp = cloud2_->header.stamp; + transform2_.transform.translation.x = world_origin_x + delta_pointcloud_x_; + + cudaStreamCreate(&stream_); +} + +void VoxelGeneratorTest::TearDown() +{ +} + +TEST_F(VoxelGeneratorTest, CloudInfo) +{ + CloudInfo cloud_info{}; + EXPECT_EQ(cloud1_->is_bigendian, cloud_info.is_bigendian); + EXPECT_EQ(cloud1_->fields[0].name, "x"); + EXPECT_EQ(cloud1_->fields[0].datatype, cloud_info.x_datatype); + EXPECT_EQ(cloud1_->fields[0].count, cloud_info.x_count); + EXPECT_EQ(cloud1_->fields[0].offset, cloud_info.x_offset); + EXPECT_EQ(cloud1_->fields[1].name, "y"); + EXPECT_EQ(cloud1_->fields[1].datatype, cloud_info.y_datatype); + EXPECT_EQ(cloud1_->fields[1].count, cloud_info.y_count); + EXPECT_EQ(cloud1_->fields[1].offset, cloud_info.y_offset); + EXPECT_EQ(cloud1_->fields[2].name, "z"); + EXPECT_EQ(cloud1_->fields[2].datatype, cloud_info.z_datatype); + EXPECT_EQ(cloud1_->fields[2].count, cloud_info.z_count); + EXPECT_EQ(cloud1_->fields[2].offset, cloud_info.z_offset); + EXPECT_EQ(cloud1_->fields[3].name, "intensity"); + EXPECT_EQ(cloud1_->fields[3].datatype, cloud_info.intensity_datatype); + EXPECT_EQ(cloud1_->fields[3].count, cloud_info.intensity_count); + EXPECT_EQ(cloud1_->fields[3].offset, cloud_info.intensity_offset); + EXPECT_EQ(cloud1_->width, points_per_pointcloud_); + EXPECT_EQ(cloud1_->height, 1); +} + +TEST_F(VoxelGeneratorTest, SingleFrame) +{ + const unsigned int num_past_frames = 0; // only current frame + DensificationParam param(world_frame_, num_past_frames); + VoxelGenerator voxel_generator(param, *config_ptr_, stream_); + std::vector points; + points.resize(config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_); + std::fill(points.begin(), points.end(), std::nan("")); + + auto points_d = + cuda::make_unique(config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_); + cudaMemcpy( + points_d.get(), points.data(), + points_per_pointcloud_ * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice); + + bool status1 = voxel_generator.enqueuePointCloud(*cloud1_, *tf2_buffer_); + std::size_t generated_points_num = voxel_generator.generateSweepPoints(*cloud1_, points_d); + + cudaMemcpy( + points.data(), points_d.get(), + points_per_pointcloud_ * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyDeviceToHost); + + EXPECT_TRUE(status1); + EXPECT_EQ(generated_points_num, points_per_pointcloud_); + + // Check valid points + for (std::size_t i = 0; i < points_per_pointcloud_; ++i) { + // There are no tf conversions + EXPECT_EQ(static_cast(i), points[i * config_ptr_->num_point_feature_size_ + 0]); + EXPECT_EQ(static_cast(i), points[i * config_ptr_->num_point_feature_size_ + 1]); + EXPECT_EQ(static_cast(i), points[i * config_ptr_->num_point_feature_size_ + 2]); + EXPECT_EQ(static_cast(i % 256), points[i * config_ptr_->num_point_feature_size_ + 3]); + EXPECT_EQ(static_cast(0), points[i * config_ptr_->num_point_feature_size_ + 4]); + } + + // Check invalid points + for (std::size_t i = points_per_pointcloud_ * config_ptr_->num_point_feature_size_; + i < points_per_pointcloud_ * config_ptr_->num_point_feature_size_ * 2; ++i) { + EXPECT_TRUE(std::isnan(points[i])); + } +} + +TEST_F(VoxelGeneratorTest, TwoFramesNoTf) +{ + const unsigned int num_past_frames = 1; + DensificationParam param(world_frame_, num_past_frames); + VoxelGenerator voxel_generator(param, *config_ptr_, stream_); + std::vector points; + points.resize(config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_); + std::fill(points.begin(), points.end(), std::nan("")); + + auto points_d = + cuda::make_unique(config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_); + cudaMemcpy( + points_d.get(), points.data(), + points_per_pointcloud_ * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice); + + bool status1 = voxel_generator.enqueuePointCloud(*cloud1_, *tf2_buffer_); + bool status2 = voxel_generator.enqueuePointCloud(*cloud2_, *tf2_buffer_); + std::size_t generated_points_num = voxel_generator.generateSweepPoints(*cloud1_, points_d); + + cudaMemcpy( + points.data(), points_d.get(), + points_per_pointcloud_ * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyDeviceToHost); + + EXPECT_FALSE(status1); + EXPECT_FALSE(status2); + EXPECT_EQ(0, generated_points_num); +} + +TEST_F(VoxelGeneratorTest, TwoFrames) +{ + const unsigned int num_past_frames = 1; + DensificationParam param(world_frame_, num_past_frames); + VoxelGenerator voxel_generator(param, *config_ptr_, stream_); + std::vector points; + points.resize(config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_); + std::fill(points.begin(), points.end(), std::nan("")); + + auto points_d = + cuda::make_unique(config_ptr_->cloud_capacity_ * config_ptr_->num_point_feature_size_); + cudaMemcpy( + points_d.get(), points.data(), + 2 * points_per_pointcloud_ * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice); + + tf2_buffer_->setTransform(transform1_, "authority1"); + tf2_buffer_->setTransform(transform2_, "authority1"); + + bool status1 = voxel_generator.enqueuePointCloud(*cloud1_, *tf2_buffer_); + bool status2 = voxel_generator.enqueuePointCloud(*cloud2_, *tf2_buffer_); + std::size_t generated_points_num = voxel_generator.generateSweepPoints(*cloud1_, points_d); + + cudaMemcpy( + points.data(), points_d.get(), + 2 * points_per_pointcloud_ * config_ptr_->num_point_feature_size_ * sizeof(float), + cudaMemcpyDeviceToHost); + + EXPECT_TRUE(status1); + EXPECT_TRUE(status2); + EXPECT_EQ(2 * points_per_pointcloud_, generated_points_num); + + // Check valid points for the latest pointcloud + for (std::size_t i = 0; i < points_per_pointcloud_; ++i) { + // There are no tf conversions + EXPECT_EQ(static_cast(i), points[i * config_ptr_->num_point_feature_size_ + 0]); + EXPECT_EQ(static_cast(i), points[i * config_ptr_->num_point_feature_size_ + 1]); + EXPECT_EQ(static_cast(i), points[i * config_ptr_->num_point_feature_size_ + 2]); + EXPECT_EQ(static_cast(i % 256), points[i * config_ptr_->num_point_feature_size_ + 3]); + EXPECT_EQ(static_cast(0), points[i * config_ptr_->num_point_feature_size_ + 4]); + } + + // Check valid points for the oldest pointcloud + for (std::size_t i = 0; i < points_per_pointcloud_; ++i) { + // There are tf conversions, so results are not numerically the same + EXPECT_NEAR( + static_cast(i) - delta_pointcloud_x_, + points[(points_per_pointcloud_ + i) * config_ptr_->num_point_feature_size_ + 0], 1e-6); + EXPECT_NEAR( + static_cast(i), + points[(points_per_pointcloud_ + i) * config_ptr_->num_point_feature_size_ + 1], 1e-6); + EXPECT_NEAR( + static_cast(i), + points[(points_per_pointcloud_ + i) * config_ptr_->num_point_feature_size_ + 2], 1e-6); + EXPECT_NEAR( + static_cast(i % 256), + points[(points_per_pointcloud_ + i) * config_ptr_->num_point_feature_size_ + 3], 1e-6); + EXPECT_NEAR( + 0.1, points[(points_per_pointcloud_ + i) * config_ptr_->num_point_feature_size_ + 4], 1e-6); + } + + // Check invalid points + for (std::size_t i = 2 * points_per_pointcloud_ * config_ptr_->num_point_feature_size_; + i < 3 * points_per_pointcloud_ * config_ptr_->num_point_feature_size_; ++i) { + EXPECT_TRUE(std::isnan(points[i])); + } +} +} // namespace lidar_transfusion + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_transfusion/test/test_voxel_generator.hpp b/perception/lidar_transfusion/test/test_voxel_generator.hpp new file mode 100644 index 0000000000000..eccbe6412d183 --- /dev/null +++ b/perception/lidar_transfusion/test/test_voxel_generator.hpp @@ -0,0 +1,65 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_VOXEL_GENERATOR_HPP_ +#define TEST_VOXEL_GENERATOR_HPP_ + +#include +#include + +#include + +#include + +#include +#include +#include + +namespace lidar_transfusion +{ + +class VoxelGeneratorTest : public testing::Test +{ +public: + void SetUp() override; + void TearDown() override; + + // These need to be public so that they can be accessed in the test cases + rclcpp::Node::SharedPtr node_{}; + + std::unique_ptr cloud1_{}, cloud2_{}; + geometry_msgs::msg::TransformStamped transform1_{}, transform2_{}; + + std::unique_ptr densification_param_ptr_{}; + std::unique_ptr config_ptr_{}; + + std::unique_ptr tf2_buffer_{}; + + std::string world_frame_{}; + std::string lidar_frame_{}; + double delta_pointcloud_x_{}; + std::size_t points_per_pointcloud_{}; + + std::vector voxels_num_{}; + std::vector point_cloud_range_{}; + std::vector voxel_size_{}; + float circle_nms_dist_threshold_{}; + std::vector yaw_norm_thresholds_{}; + float score_threshold_{}; + + cudaStream_t stream_{}; +}; +} // namespace lidar_transfusion + +#endif // TEST_VOXEL_GENERATOR_HPP_ From cda480810306e5e092dfc750b7fe07d58d1916a2 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 10 Jul 2024 14:24:40 +0900 Subject: [PATCH 127/306] fix(autoware_universe_utils): fix constParameterReference (#7882) * fix: constParameterReference Signed-off-by: kobayu858 * fix: constParameterReference Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../include/autoware/universe_utils/geometry/geometry.hpp | 2 +- common/autoware_universe_utils/src/geometry/geometry.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp index 87c06dfd9cf08..e6dd57c9d3fed 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp @@ -413,7 +413,7 @@ geometry_msgs::msg::Pose transformPose( const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::TransformStamped & transform); geometry_msgs::msg::Pose transformPose( - const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Transform & transform); + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Transform & transform); geometry_msgs::msg::Pose transformPose( const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Pose & pose_transform); diff --git a/common/autoware_universe_utils/src/geometry/geometry.cpp b/common/autoware_universe_utils/src/geometry/geometry.cpp index 1f4fd318e227b..b0f5756fc2d94 100644 --- a/common/autoware_universe_utils/src/geometry/geometry.cpp +++ b/common/autoware_universe_utils/src/geometry/geometry.cpp @@ -225,7 +225,7 @@ geometry_msgs::msg::Pose transformPose( } geometry_msgs::msg::Pose transformPose( - const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Transform & transform) + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Transform & transform) { geometry_msgs::msg::TransformStamped transform_stamped; transform_stamped.transform = transform; From 625e16624ca4e6b455e2ebf61d479b99f89435f8 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 10 Jul 2024 14:44:19 +0900 Subject: [PATCH 128/306] refactor(compare_map_segmentation)!: fix namespace and directory structure (#7910) * feat: update namespace and directory structure for compare_map_segmentation code Signed-off-by: Taekjin LEE * refactor: update directory structure Signed-off-by: Taekjin LEE * fix: add missing include Signed-off-by: Taekjin LEE * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../filter/pointcloud_map_filter.launch.py | 2 +- .../ground_segmentation.launch.py | 2 +- .../behavior_planning.launch.xml | 7 +++- .../compare_map_segmentation/CMakeLists.txt | 42 +++++++++---------- .../node.cpp} | 9 ++-- .../compare_elevation_map_filter/node.hpp} | 10 ++--- .../node.cpp} | 12 ++++-- .../node.hpp} | 12 +++--- .../node.cpp} | 11 +++-- .../node.hpp} | 12 +++--- .../node.cpp} | 12 ++++-- .../voxel_based_compare_map_filter/node.hpp} | 12 +++--- .../node.cpp} | 11 +++-- .../node.hpp} | 12 +++--- .../voxel_grid_map_loader.cpp | 6 ++- .../voxel_grid_map_loader.hpp | 16 ++++--- 16 files changed, 108 insertions(+), 80 deletions(-) rename perception/compare_map_segmentation/src/{compare_elevation_map_filter_node.cpp => compare_elevation_map_filter/node.cpp} (93%) rename perception/compare_map_segmentation/{include/compare_map_segmentation/compare_elevation_map_filter_node.hpp => src/compare_elevation_map_filter/node.hpp} (86%) rename perception/compare_map_segmentation/src/{distance_based_compare_map_filter_nodelet.cpp => distance_based_compare_map_filter/node.cpp} (94%) rename perception/compare_map_segmentation/{include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp => src/distance_based_compare_map_filter/node.hpp} (91%) rename perception/compare_map_segmentation/src/{voxel_based_approximate_compare_map_filter_nodelet.cpp => voxel_based_approximate_compare_map_filter/node.cpp} (94%) rename perception/compare_map_segmentation/{include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp => src/voxel_based_approximate_compare_map_filter/node.hpp} (85%) rename perception/compare_map_segmentation/src/{voxel_based_compare_map_filter_nodelet.cpp => voxel_based_compare_map_filter/node.cpp} (92%) rename perception/compare_map_segmentation/{include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp => src/voxel_based_compare_map_filter/node.hpp} (78%) rename perception/compare_map_segmentation/src/{voxel_distance_based_compare_map_filter_nodelet.cpp => voxel_distance_based_compare_map_filter/node.cpp} (95%) rename perception/compare_map_segmentation/{include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp => src/voxel_distance_based_compare_map_filter/node.hpp} (93%) rename perception/compare_map_segmentation/src/{ => voxel_grid_map_loader}/voxel_grid_map_loader.cpp (99%) rename perception/compare_map_segmentation/{include/compare_map_segmentation => src/voxel_grid_map_loader}/voxel_grid_map_loader.hpp (95%) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py index 5fa71cd1aa0e9..6c0e5f20b8957 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py @@ -106,7 +106,7 @@ def create_compare_map_pipeline(self): components.append( ComposableNode( package="compare_map_segmentation", - plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent", + plugin="autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent", name="voxel_based_compare_map_filter", remappings=[ ("input", down_sample_topic), diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py index ba0b058d8c00b..fd38b7bfd6ab3 100644 --- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py +++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py @@ -391,7 +391,7 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con components.append( ComposableNode( package="compare_map_segmentation", - plugin="compare_map_segmentation::CompareElevationMapFilterComponent", + plugin="autoware::compare_map_segmentation::CompareElevationMapFilterComponent", name="compare_elevation_map_filter", namespace="elevation_map", remappings=[ diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 3deff32d6e297..3c58c8d85b5be 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -260,7 +260,12 @@ - + diff --git a/perception/compare_map_segmentation/CMakeLists.txt b/perception/compare_map_segmentation/CMakeLists.txt index a76b0fc56e2a0..0a33711e946ef 100644 --- a/perception/compare_map_segmentation/CMakeLists.txt +++ b/perception/compare_map_segmentation/CMakeLists.txt @@ -21,23 +21,23 @@ include_directories( ${GRID_MAP_INCLUDE_DIR} ) -add_library(compare_map_segmentation SHARED - src/distance_based_compare_map_filter_nodelet.cpp - src/voxel_based_approximate_compare_map_filter_nodelet.cpp - src/voxel_based_compare_map_filter_nodelet.cpp - src/voxel_distance_based_compare_map_filter_nodelet.cpp - src/compare_elevation_map_filter_node.cpp - src/voxel_grid_map_loader.cpp +add_library(${PROJECT_NAME} SHARED + src/distance_based_compare_map_filter/node.cpp + src/voxel_based_approximate_compare_map_filter/node.cpp + src/voxel_based_compare_map_filter/node.cpp + src/voxel_distance_based_compare_map_filter/node.cpp + src/compare_elevation_map_filter/node.cpp + src/voxel_grid_map_loader/voxel_grid_map_loader.cpp ) -target_link_libraries(compare_map_segmentation +target_link_libraries(${PROJECT_NAME} pointcloud_preprocessor::pointcloud_preprocessor_filter_base ${Boost_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} ) -ament_target_dependencies(compare_map_segmentation +ament_target_dependencies(${PROJECT_NAME} grid_map_pcl grid_map_ros pcl_conversions @@ -50,7 +50,7 @@ ament_target_dependencies(compare_map_segmentation ) if(OPENMP_FOUND) - set_target_properties(compare_map_segmentation PROPERTIES + set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS ${OpenMP_CXX_FLAGS} LINK_FLAGS ${OpenMP_CXX_FLAGS} ) @@ -58,32 +58,32 @@ endif() # ========== Compare Map Filter ========== # -- Distance Based Compare Map Filter -- -rclcpp_components_register_node(compare_map_segmentation - PLUGIN "compare_map_segmentation::DistanceBasedCompareMapFilterComponent" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent" EXECUTABLE distance_based_compare_map_filter_node) # -- Voxel Based Approximate Compare Map Filter -- -rclcpp_components_register_node(compare_map_segmentation - PLUGIN "compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent" EXECUTABLE voxel_based_approximate_compare_map_filter_node) # -- Voxel Based Compare Map Filter -- -rclcpp_components_register_node(compare_map_segmentation - PLUGIN "compare_map_segmentation::VoxelBasedCompareMapFilterComponent" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent" EXECUTABLE voxel_based_compare_map_filter_node) # -- Voxel Distance Based Compare Map Filter -- -rclcpp_components_register_node(compare_map_segmentation - PLUGIN "compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" EXECUTABLE voxel_distance_based_compare_map_filter_node) # -- Compare Elevation Map Filter -- -rclcpp_components_register_node(compare_map_segmentation - PLUGIN "compare_map_segmentation::CompareElevationMapFilterComponent" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::compare_map_segmentation::CompareElevationMapFilterComponent" EXECUTABLE compare_elevation_map_filter_node) install( - TARGETS compare_map_segmentation + TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin diff --git a/perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp b/perception/compare_map_segmentation/src/compare_elevation_map_filter/node.cpp similarity index 93% rename from perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp rename to perception/compare_map_segmentation/src/compare_elevation_map_filter/node.cpp index 1eadeeb3bec05..e5a19245bc5b1 100644 --- a/perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp +++ b/perception/compare_map_segmentation/src/compare_elevation_map_filter/node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "compare_map_segmentation/compare_elevation_map_filter_node.hpp" +#include "node.hpp" #include #include @@ -33,7 +33,7 @@ #include #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { CompareElevationMapFilterComponent::CompareElevationMapFilterComponent( const rclcpp::NodeOptions & options) @@ -94,7 +94,8 @@ void CompareElevationMapFilterComponent::filter( output.header.stamp = input->header.stamp; output.header.frame_id = output_frame; } -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation #include -RCLCPP_COMPONENTS_REGISTER_NODE(compare_map_segmentation::CompareElevationMapFilterComponent) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::compare_map_segmentation::CompareElevationMapFilterComponent) diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp b/perception/compare_map_segmentation/src/compare_elevation_map_filter/node.hpp similarity index 86% rename from perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp rename to perception/compare_map_segmentation/src/compare_elevation_map_filter/node.hpp index 63aad08fe7611..ba2328d862951 100644 --- a/perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp +++ b/perception/compare_map_segmentation/src/compare_elevation_map_filter/node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPARE_MAP_SEGMENTATION__COMPARE_ELEVATION_MAP_FILTER_NODE_HPP_ -#define COMPARE_MAP_SEGMENTATION__COMPARE_ELEVATION_MAP_FILTER_NODE_HPP_ +#ifndef COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_ +#define COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_ #include "pointcloud_preprocessor/filter.hpp" @@ -29,7 +29,7 @@ #include #include #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { class CompareElevationMapFilterComponent : public pointcloud_preprocessor::Filter { @@ -56,6 +56,6 @@ class CompareElevationMapFilterComponent : public pointcloud_preprocessor::Filte PCL_MAKE_ALIGNED_OPERATOR_NEW explicit CompareElevationMapFilterComponent(const rclcpp::NodeOptions & options); }; -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation -#endif // COMPARE_MAP_SEGMENTATION__COMPARE_ELEVATION_MAP_FILTER_NODE_HPP_ +#endif // COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_ diff --git a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp similarity index 94% rename from perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp rename to perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp index 2962ba1e28a75..53183cd7dc3f0 100644 --- a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp +++ b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp" +#include "node.hpp" + +#include "autoware/universe_utils/ros/debug_publisher.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" #include #include @@ -20,7 +23,7 @@ #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { void DistanceBasedStaticMapLoader::onMapCallback( @@ -176,7 +179,8 @@ void DistanceBasedCompareMapFilterComponent::filter( } } -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation #include -RCLCPP_COMPONENTS_REGISTER_NODE(compare_map_segmentation::DistanceBasedCompareMapFilterComponent) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent) diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp similarity index 91% rename from perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp rename to perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp index 301dc75839f8e..115a73cf0d263 100644 --- a/perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp +++ b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPARE_MAP_SEGMENTATION__DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_ -#define COMPARE_MAP_SEGMENTATION__DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_ +#ifndef DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_ +#define DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_ +#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp" #include "pointcloud_preprocessor/filter.hpp" -#include "voxel_grid_map_loader.hpp" #include // for pcl::isFinite #include @@ -26,7 +26,7 @@ #include #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { typedef typename pcl::Filter::PointCloud PointCloud; @@ -114,8 +114,8 @@ class DistanceBasedCompareMapFilterComponent : public pointcloud_preprocessor::F PCL_MAKE_ALIGNED_OPERATOR_NEW explicit DistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); }; -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation // clang-format off -#endif // COMPARE_MAP_SEGMENTATION__DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_ // NOLINT +#endif // DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_ // NOLINT // clang-format on diff --git a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp similarity index 94% rename from perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp rename to perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp index e14ae7d55a1d4..8bc22f8c31184 100644 --- a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp +++ b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp" +#include "node.hpp" + +#include "autoware/universe_utils/ros/debug_publisher.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" #include #include @@ -20,7 +23,7 @@ #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { bool VoxelBasedApproximateStaticMapLoader::is_close_to_map( @@ -145,8 +148,8 @@ void VoxelBasedApproximateCompareMapFilterComponent::filter( } } -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation #include RCLCPP_COMPONENTS_REGISTER_NODE( - compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent) + autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent) diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp similarity index 85% rename from perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp rename to perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp index 3a5e183767620..26b0204210209 100644 --- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp +++ b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER_NODELET_HPP_ // NOLINT -#define COMPARE_MAP_SEGMENTATION__VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER_NODELET_HPP_ // NOLINT +#ifndef VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_ // NOLINT +#define VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_ // NOLINT +#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp" #include "pointcloud_preprocessor/filter.hpp" -#include "voxel_grid_map_loader.hpp" #include #include @@ -25,7 +25,7 @@ #include #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { class VoxelBasedApproximateStaticMapLoader : public VoxelGridStaticMapLoader @@ -70,8 +70,8 @@ class VoxelBasedApproximateCompareMapFilterComponent : public pointcloud_preproc PCL_MAKE_ALIGNED_OPERATOR_NEW explicit VoxelBasedApproximateCompareMapFilterComponent(const rclcpp::NodeOptions & options); }; -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation // clang-format off -#endif // COMPARE_MAP_SEGMENTATION__VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER_NODELET_HPP_ // NOLINT +#endif // VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_ // NOLINT // clang-format on diff --git a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp similarity index 92% rename from perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp rename to perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp index 449ae76181bc6..1861a710cdebd 100644 --- a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp +++ b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp" +#include "node.hpp" + +#include "autoware/universe_utils/ros/debug_publisher.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" #include #include @@ -21,7 +24,7 @@ #include #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { using pointcloud_preprocessor::get_param; @@ -106,7 +109,8 @@ void VoxelBasedCompareMapFilterComponent::filter( } } -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation #include -RCLCPP_COMPONENTS_REGISTER_NODE(compare_map_segmentation::VoxelBasedCompareMapFilterComponent) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent) diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp similarity index 78% rename from perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp rename to perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp index 692193d13b04f..6e03e5d7a2e09 100644 --- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp +++ b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_BASED_COMPARE_MAP_FILTER_NODELET_HPP_ -#define COMPARE_MAP_SEGMENTATION__VOXEL_BASED_COMPARE_MAP_FILTER_NODELET_HPP_ +#ifndef VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_ +#define VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_ -#include "compare_map_segmentation/voxel_grid_map_loader.hpp" +#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp" #include "pointcloud_preprocessor/filter.hpp" #include @@ -24,7 +24,7 @@ #include #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { class VoxelBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filter { @@ -45,6 +45,6 @@ class VoxelBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filt PCL_MAKE_ALIGNED_OPERATOR_NEW explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); }; -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation -#endif // COMPARE_MAP_SEGMENTATION__VOXEL_BASED_COMPARE_MAP_FILTER_NODELET_HPP_ +#endif // VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_ diff --git a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp similarity index 95% rename from perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp rename to perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp index 0a660bfffd7fb..7fdeb5d8ea163 100644 --- a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp +++ b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp" +#include "node.hpp" + +#include "autoware/universe_utils/ros/debug_publisher.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" #include #include @@ -20,7 +23,7 @@ #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { void VoxelDistanceBasedStaticMapLoader::onMapCallback( @@ -174,8 +177,8 @@ void VoxelDistanceBasedCompareMapFilterComponent::filter( "debug/processing_time_ms", processing_time_ms); } } -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation #include RCLCPP_COMPONENTS_REGISTER_NODE( - compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent) + autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent) diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp similarity index 93% rename from perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp rename to perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp index 0cfc8a64ab2dd..e0656359f3df2 100644 --- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp +++ b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_ // NOLINT -#define COMPARE_MAP_SEGMENTATION__VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_ // NOLINT +#ifndef VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_ // NOLINT +#define VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_ // NOLINT +#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp" #include "pointcloud_preprocessor/filter.hpp" -#include "voxel_grid_map_loader.hpp" #include #include @@ -27,7 +27,7 @@ #include #include -namespace compare_map_segmentation +namespace autoware::compare_map_segmentation { typedef typename pcl::Filter::PointCloud PointCloud; @@ -139,8 +139,8 @@ class VoxelDistanceBasedCompareMapFilterComponent : public pointcloud_preprocess PCL_MAKE_ALIGNED_OPERATOR_NEW explicit VoxelDistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); }; -} // namespace compare_map_segmentation +} // namespace autoware::compare_map_segmentation // clang-format off -#endif // COMPARE_MAP_SEGMENTATION__VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_ // NOLINT +#endif // VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_ // NOLINT // clang-format on diff --git a/perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp similarity index 99% rename from perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp rename to perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index ef3727019c0f4..b011799e5b912 100644 --- a/perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp +++ b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -12,8 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "compare_map_segmentation/voxel_grid_map_loader.hpp" +#include "voxel_grid_map_loader.hpp" +namespace autoware::compare_map_segmentation +{ VoxelGridMapLoader::VoxelGridMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, std::string * tf_map_input_frame, std::mutex * mutex) @@ -462,3 +464,5 @@ void VoxelGridDynamicMapLoader::request_update_map(const geometry_msgs::msg::Poi } } } + +} // namespace autoware::compare_map_segmentation diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_grid_map_loader.hpp b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp similarity index 95% rename from perception/compare_map_segmentation/include/compare_map_segmentation/voxel_grid_map_loader.hpp rename to perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index 21cb19edcd0ec..bc54519a95e47 100644 --- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_grid_map_loader.hpp +++ b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_GRID_MAP_LOADER_HPP_ -#define COMPARE_MAP_SEGMENTATION__VOXEL_GRID_MAP_LOADER_HPP_ +#ifndef VOXEL_GRID_MAP_LOADER__VOXEL_GRID_MAP_LOADER_HPP_ +#define VOXEL_GRID_MAP_LOADER__VOXEL_GRID_MAP_LOADER_HPP_ #include -#include +#include "autoware_map_msgs/srv/get_differential_point_cloud_map.hpp" #include #include #include @@ -33,6 +33,8 @@ #include #include +namespace autoware::compare_map_segmentation +{ template double distance3D(const T p1, const U p2) { @@ -138,7 +140,7 @@ class VoxelGridStaticMapLoader : public VoxelGridMapLoader rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, std::string * tf_map_input_frame, std::mutex * mutex); virtual void onMapCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr map); - virtual bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold); + bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; }; class VoxelGridDynamicMapLoader : public VoxelGridMapLoader @@ -199,7 +201,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader void timer_callback(); bool should_update_map() const; void request_update_map(const geometry_msgs::msg::Point & position); - virtual bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold); + bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; /** \brief Check if point close to map pointcloud in the */ bool is_close_to_next_map_grid( const pcl::PointXYZ & point, const int current_map_grid_index, const double distance_threshold); @@ -319,4 +321,6 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader } }; -#endif // COMPARE_MAP_SEGMENTATION__VOXEL_GRID_MAP_LOADER_HPP_ +} // namespace autoware::compare_map_segmentation + +#endif // VOXEL_GRID_MAP_LOADER__VOXEL_GRID_MAP_LOADER_HPP_ From bb53c127c4338e4515e05563464d0281b3c595fa Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 10 Jul 2024 14:48:41 +0900 Subject: [PATCH 129/306] refactor(radar_threshold_filter): fix namespace and directory structure (#7913) Signed-off-by: Taekjin LEE --- sensing/radar_threshold_filter/CMakeLists.txt | 14 +++++++------- .../radar_threshold_filter_node.cpp | 11 +++++------ .../radar_threshold_filter_node.hpp | 10 +++++----- .../test_radar_threshold_filter.cpp | 4 ++-- 4 files changed, 19 insertions(+), 20 deletions(-) rename sensing/radar_threshold_filter/src/{radar_threshold_filter_node => }/radar_threshold_filter_node.cpp (95%) rename sensing/radar_threshold_filter/{include/radar_threshold_filter => src}/radar_threshold_filter_node.hpp (87%) diff --git a/sensing/radar_threshold_filter/CMakeLists.txt b/sensing/radar_threshold_filter/CMakeLists.txt index 3c4ae8d40d2c1..136b41cb3b37b 100644 --- a/sensing/radar_threshold_filter/CMakeLists.txt +++ b/sensing/radar_threshold_filter/CMakeLists.txt @@ -6,12 +6,12 @@ find_package(autoware_cmake REQUIRED) autoware_package() ## Targets -ament_auto_add_library(radar_threshold_filter_node_component SHARED - src/radar_threshold_filter_node/radar_threshold_filter_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/radar_threshold_filter_node.cpp ) -rclcpp_components_register_node(radar_threshold_filter_node_component - PLUGIN "radar_threshold_filter::RadarThresholdFilterNode" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::radar_threshold_filter::RadarThresholdFilterNode" EXECUTABLE radar_threshold_filter_node ) @@ -24,10 +24,10 @@ if(BUILD_TESTING) ament_lint_auto_find_test_dependencies() file(GLOB_RECURSE test_files test/**/*.cpp) - ament_add_ros_isolated_gtest(radar_threshold_filter ${test_files}) + ament_add_ros_isolated_gtest(${PROJECT_NAME}_test ${test_files}) - target_link_libraries(radar_threshold_filter - radar_threshold_filter_node_component + target_link_libraries(${PROJECT_NAME}_test + ${PROJECT_NAME} ) endif() diff --git a/sensing/radar_threshold_filter/src/radar_threshold_filter_node/radar_threshold_filter_node.cpp b/sensing/radar_threshold_filter/src/radar_threshold_filter_node.cpp similarity index 95% rename from sensing/radar_threshold_filter/src/radar_threshold_filter_node/radar_threshold_filter_node.cpp rename to sensing/radar_threshold_filter/src/radar_threshold_filter_node.cpp index 3f3837b678992..7a260766c2c7a 100644 --- a/sensing/radar_threshold_filter/src/radar_threshold_filter_node/radar_threshold_filter_node.cpp +++ b/sensing/radar_threshold_filter/src/radar_threshold_filter_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "radar_threshold_filter/radar_threshold_filter_node.hpp" +#include "radar_threshold_filter_node.hpp" #include @@ -20,8 +20,6 @@ #include #include -using std::placeholders::_1; - namespace { template @@ -51,10 +49,11 @@ bool isWithin(double value, double max, double min) } } // namespace -namespace radar_threshold_filter +namespace autoware::radar_threshold_filter { using radar_msgs::msg::RadarReturn; using radar_msgs::msg::RadarScan; +using std::placeholders::_1; RadarThresholdFilterNode::RadarThresholdFilterNode(const rclcpp::NodeOptions & node_options) : Node("radar_threshold_filter", node_options) @@ -156,7 +155,7 @@ bool RadarThresholdFilterNode::isWithinThreshold(const RadarReturn & radar_retur return true; } -} // namespace radar_threshold_filter +} // namespace autoware::radar_threshold_filter #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(radar_threshold_filter::RadarThresholdFilterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::radar_threshold_filter::RadarThresholdFilterNode) diff --git a/sensing/radar_threshold_filter/include/radar_threshold_filter/radar_threshold_filter_node.hpp b/sensing/radar_threshold_filter/src/radar_threshold_filter_node.hpp similarity index 87% rename from sensing/radar_threshold_filter/include/radar_threshold_filter/radar_threshold_filter_node.hpp rename to sensing/radar_threshold_filter/src/radar_threshold_filter_node.hpp index ac38261dc34f1..a8a25bd972112 100644 --- a/sensing/radar_threshold_filter/include/radar_threshold_filter/radar_threshold_filter_node.hpp +++ b/sensing/radar_threshold_filter/src/radar_threshold_filter_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RADAR_THRESHOLD_FILTER__RADAR_THRESHOLD_FILTER_NODE_HPP_ -#define RADAR_THRESHOLD_FILTER__RADAR_THRESHOLD_FILTER_NODE_HPP_ +#ifndef RADAR_THRESHOLD_FILTER_NODE_HPP_ +#define RADAR_THRESHOLD_FILTER_NODE_HPP_ #include @@ -24,7 +24,7 @@ #include #include -namespace radar_threshold_filter +namespace autoware::radar_threshold_filter { using radar_msgs::msg::RadarReturn; using radar_msgs::msg::RadarScan; @@ -73,6 +73,6 @@ class RadarThresholdFilterNode : public rclcpp::Node bool isWithinThreshold(const RadarReturn & radar_return); }; -} // namespace radar_threshold_filter +} // namespace autoware::radar_threshold_filter -#endif // RADAR_THRESHOLD_FILTER__RADAR_THRESHOLD_FILTER_NODE_HPP_ +#endif // RADAR_THRESHOLD_FILTER_NODE_HPP_ diff --git a/sensing/radar_threshold_filter/test/radar_threshold_filter/test_radar_threshold_filter.cpp b/sensing/radar_threshold_filter/test/radar_threshold_filter/test_radar_threshold_filter.cpp index 71a03f7d97cad..dd9063a380d69 100644 --- a/sensing/radar_threshold_filter/test/radar_threshold_filter/test_radar_threshold_filter.cpp +++ b/sensing/radar_threshold_filter/test/radar_threshold_filter/test_radar_threshold_filter.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "radar_threshold_filter/radar_threshold_filter_node.hpp" +#include "../../src/radar_threshold_filter_node.hpp" #include @@ -21,8 +21,8 @@ TEST(RadarThresholdFilter, isWithinThreshold) { rclcpp::init(0, nullptr); + using autoware::radar_threshold_filter::RadarThresholdFilterNode; using radar_msgs::msg::RadarReturn; - using radar_threshold_filter::RadarThresholdFilterNode; const double amplitude_min = -10.0; const double amplitude_max = 100.0; From a0c3a2461ee926e8233e3a13d34621692629ac2a Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 10 Jul 2024 14:48:53 +0900 Subject: [PATCH 130/306] refactor(radar_scan_to_pointcloud2): fix namespace and directory structure (#7912) * refactor(radar_scan_to_pointcloud2): fix namespace and directory structure Signed-off-by: Taekjin LEE * refactor(radar_scan_to_pointcloud2): add PCL dependency and update CMakeLists.txt Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../radar_scan_to_pointcloud2/CMakeLists.txt | 17 +++++++++++++---- sensing/radar_scan_to_pointcloud2/package.xml | 2 +- .../radar_scan_to_pointcloud2_node.cpp | 8 ++++---- .../radar_scan_to_pointcloud2_node.hpp | 10 +++++----- 4 files changed, 23 insertions(+), 14 deletions(-) rename sensing/radar_scan_to_pointcloud2/src/{radar_scan_to_pointcloud2_node => }/radar_scan_to_pointcloud2_node.cpp (95%) rename sensing/radar_scan_to_pointcloud2/{include/radar_scan_to_pointcloud2 => src}/radar_scan_to_pointcloud2_node.hpp (86%) diff --git a/sensing/radar_scan_to_pointcloud2/CMakeLists.txt b/sensing/radar_scan_to_pointcloud2/CMakeLists.txt index 6ec1759fc7d4d..44b668b49c87a 100644 --- a/sensing/radar_scan_to_pointcloud2/CMakeLists.txt +++ b/sensing/radar_scan_to_pointcloud2/CMakeLists.txt @@ -5,13 +5,22 @@ project(radar_scan_to_pointcloud2) find_package(autoware_cmake REQUIRED) autoware_package() +find_package(PCL REQUIRED COMPONENTS common) + # Targets -ament_auto_add_library(radar_scan_to_pointcloud2_node_component SHARED - src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/radar_scan_to_pointcloud2_node.cpp +) + +target_include_directories(${PROJECT_NAME} + SYSTEM PUBLIC ${PCL_INCLUDE_DIRS} +) +target_link_libraries(${PROJECT_NAME} + ${PCL_LIBRARIES} ) -rclcpp_components_register_node(radar_scan_to_pointcloud2_node_component - PLUGIN "radar_scan_to_pointcloud2::RadarScanToPointcloud2Node" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::radar_scan_to_pointcloud2::RadarScanToPointcloud2Node" EXECUTABLE radar_scan_to_pointcloud2_node ) diff --git a/sensing/radar_scan_to_pointcloud2/package.xml b/sensing/radar_scan_to_pointcloud2/package.xml index a9d4fe7ebda8f..c8c84ee3c8a4a 100644 --- a/sensing/radar_scan_to_pointcloud2/package.xml +++ b/sensing/radar_scan_to_pointcloud2/package.xml @@ -14,8 +14,8 @@ ament_cmake_auto autoware_cmake + libpcl-common pcl_conversions - pcl_ros radar_msgs rclcpp rclcpp_components diff --git a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp similarity index 95% rename from sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp rename to sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp index 8874b744bced6..30f267eebc205 100644 --- a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp +++ b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "radar_scan_to_pointcloud2/radar_scan_to_pointcloud2_node.hpp" +#include "radar_scan_to_pointcloud2_node.hpp" #include #include @@ -87,7 +87,7 @@ sensor_msgs::msg::PointCloud2 toDopplerPointcloud2(const radar_msgs::msg::RadarS } } // namespace -namespace radar_scan_to_pointcloud2 +namespace autoware::radar_scan_to_pointcloud2 { using radar_msgs::msg::RadarReturn; using radar_msgs::msg::RadarScan; @@ -153,7 +153,7 @@ void RadarScanToPointcloud2Node::onData(const RadarScan::ConstSharedPtr radar_ms } } -} // namespace radar_scan_to_pointcloud2 +} // namespace autoware::radar_scan_to_pointcloud2 #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(radar_scan_to_pointcloud2::RadarScanToPointcloud2Node) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::radar_scan_to_pointcloud2::RadarScanToPointcloud2Node) diff --git a/sensing/radar_scan_to_pointcloud2/include/radar_scan_to_pointcloud2/radar_scan_to_pointcloud2_node.hpp b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp similarity index 86% rename from sensing/radar_scan_to_pointcloud2/include/radar_scan_to_pointcloud2/radar_scan_to_pointcloud2_node.hpp rename to sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp index bb331609f606d..f758d149b184b 100644 --- a/sensing/radar_scan_to_pointcloud2/include/radar_scan_to_pointcloud2/radar_scan_to_pointcloud2_node.hpp +++ b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RADAR_SCAN_TO_POINTCLOUD2__RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_ -#define RADAR_SCAN_TO_POINTCLOUD2__RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_ +#ifndef RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_ +#define RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_ #include "rclcpp/rclcpp.hpp" @@ -24,7 +24,7 @@ #include #include -namespace radar_scan_to_pointcloud2 +namespace autoware::radar_scan_to_pointcloud2 { using radar_msgs::msg::RadarReturn; using radar_msgs::msg::RadarScan; @@ -65,6 +65,6 @@ class RadarScanToPointcloud2Node : public rclcpp::Node NodeParam node_param_{}; }; -} // namespace radar_scan_to_pointcloud2 +} // namespace autoware::radar_scan_to_pointcloud2 -#endif // RADAR_SCAN_TO_POINTCLOUD2__RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_ +#endif // RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_ From 37abf730ffa01c6623a98198140c5ac20913ff1f Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 10 Jul 2024 14:49:08 +0900 Subject: [PATCH 131/306] refactor(radar_tracks_noise_filter)!: fix namespace and directory structure (#7911) feat(radar_tracks_noise_filter): fix namespace and directory structure Signed-off-by: Taekjin LEE --- sensing/radar_tracks_noise_filter/CMakeLists.txt | 14 +++++++------- .../radar_tracks_noise_filter_node.cpp | 9 +++++---- .../radar_tracks_noise_filter_node.hpp | 10 +++++----- .../test_radar_tracks_noise_filter_is_noise.cpp | 9 +++++---- 4 files changed, 22 insertions(+), 20 deletions(-) rename sensing/radar_tracks_noise_filter/src/{radar_tracks_noise_filter_node => }/radar_tracks_noise_filter_node.cpp (93%) rename sensing/radar_tracks_noise_filter/{include/radar_tracks_noise_filter => src}/radar_tracks_noise_filter_node.hpp (84%) diff --git a/sensing/radar_tracks_noise_filter/CMakeLists.txt b/sensing/radar_tracks_noise_filter/CMakeLists.txt index a257821a90198..436c3472c8734 100644 --- a/sensing/radar_tracks_noise_filter/CMakeLists.txt +++ b/sensing/radar_tracks_noise_filter/CMakeLists.txt @@ -6,12 +6,12 @@ find_package(autoware_cmake REQUIRED) autoware_package() # Targets -ament_auto_add_library(radar_tracks_noise_filter_node_component SHARED - src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/radar_tracks_noise_filter_node.cpp ) -rclcpp_components_register_node(radar_tracks_noise_filter_node_component - PLUGIN "radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode" EXECUTABLE radar_tracks_noise_filter_node ) @@ -22,10 +22,10 @@ if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() file(GLOB_RECURSE test_files test/**/*.cpp) - ament_add_ros_isolated_gtest(radar_tracks_noise_filter ${test_files}) + ament_add_ros_isolated_gtest(${PROJECT_NAME}_test ${test_files}) - target_link_libraries(radar_tracks_noise_filter - radar_tracks_noise_filter_node_component + target_link_libraries(${PROJECT_NAME}_test + ${PROJECT_NAME} ) endif() diff --git a/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp b/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.cpp similarity index 93% rename from sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp rename to sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.cpp index 82a0a21ff6fdc..c71a95c4f59f0 100644 --- a/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp +++ b/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp" +#include "radar_tracks_noise_filter_node.hpp" #include #include @@ -38,7 +38,7 @@ bool update_param( } } // namespace -namespace radar_tracks_noise_filter +namespace autoware::radar_tracks_noise_filter { using radar_msgs::msg::RadarTrack; using radar_msgs::msg::RadarTracks; @@ -116,7 +116,8 @@ bool RadarTrackCrossingNoiseFilterNode::isNoise(const RadarTrack & radar_track) } } -} // namespace radar_tracks_noise_filter +} // namespace autoware::radar_tracks_noise_filter #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode) diff --git a/sensing/radar_tracks_noise_filter/include/radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp b/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.hpp similarity index 84% rename from sensing/radar_tracks_noise_filter/include/radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp rename to sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.hpp index 2ff4025cc64bc..9262c34167363 100644 --- a/sensing/radar_tracks_noise_filter/include/radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp +++ b/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RADAR_TRACKS_NOISE_FILTER__RADAR_TRACKS_NOISE_FILTER_NODE_HPP_ -#define RADAR_TRACKS_NOISE_FILTER__RADAR_TRACKS_NOISE_FILTER_NODE_HPP_ +#ifndef RADAR_TRACKS_NOISE_FILTER_NODE_HPP_ +#define RADAR_TRACKS_NOISE_FILTER_NODE_HPP_ #include "rclcpp/rclcpp.hpp" @@ -23,7 +23,7 @@ #include #include -namespace radar_tracks_noise_filter +namespace autoware::radar_tracks_noise_filter { using radar_msgs::msg::RadarTrack; using radar_msgs::msg::RadarTracks; @@ -62,6 +62,6 @@ class RadarTrackCrossingNoiseFilterNode : public rclcpp::Node bool isNoise(const RadarTrack & radar_track); }; -} // namespace radar_tracks_noise_filter +} // namespace autoware::radar_tracks_noise_filter -#endif // RADAR_TRACKS_NOISE_FILTER__RADAR_TRACKS_NOISE_FILTER_NODE_HPP_ +#endif // RADAR_TRACKS_NOISE_FILTER_NODE_HPP_ diff --git a/sensing/radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp b/sensing/radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp index aa08260dee2e7..ea2dfc28b5a4c 100644 --- a/sensing/radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp +++ b/sensing/radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp" +#include "../../src/radar_tracks_noise_filter_node.hpp" #include #include -std::shared_ptr get_node( +std::shared_ptr get_node( float velocity_y_threshold) { rclcpp::NodeOptions node_options; @@ -28,7 +28,8 @@ std::shared_ptr ge }); auto node = - std::make_shared(node_options); + std::make_shared( + node_options); return node; } @@ -45,8 +46,8 @@ radar_msgs::msg::RadarTrack getRadarTrack(float velocity_x, float velocity_y) TEST(RadarTracksNoiseFilter, isNoise) { + using autoware::radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode; using radar_msgs::msg::RadarTrack; - using radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode; rclcpp::init(0, nullptr); { float velocity_node_threshold = 0.0; From ec3a3ea3420485ab1ef763a4edec5705a2cb010b Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 10 Jul 2024 14:57:05 +0900 Subject: [PATCH 132/306] refactor(radar_static_pointcloud_filter): fix namespace and directory structure (#7914) refactor: update include paths and namespace for radar_static_pointcloud_filter --- sensing/radar_static_pointcloud_filter/CMakeLists.txt | 8 ++++---- sensing/radar_static_pointcloud_filter/package.xml | 3 --- .../radar_static_pointcloud_filter_node.cpp | 9 +++++---- .../radar_static_pointcloud_filter_node.hpp | 10 +++++----- 4 files changed, 14 insertions(+), 16 deletions(-) rename sensing/radar_static_pointcloud_filter/src/{radar_static_pointcloud_filter_node => }/radar_static_pointcloud_filter_node.cpp (95%) rename sensing/radar_static_pointcloud_filter/{include/radar_static_pointcloud_filter => src}/radar_static_pointcloud_filter_node.hpp (87%) diff --git a/sensing/radar_static_pointcloud_filter/CMakeLists.txt b/sensing/radar_static_pointcloud_filter/CMakeLists.txt index ecd33d3166b19..a796a0fa9734d 100644 --- a/sensing/radar_static_pointcloud_filter/CMakeLists.txt +++ b/sensing/radar_static_pointcloud_filter/CMakeLists.txt @@ -6,12 +6,12 @@ find_package(autoware_cmake REQUIRED) autoware_package() # Targets -ament_auto_add_library(radar_static_pointcloud_filter_node_component SHARED - src/radar_static_pointcloud_filter_node/radar_static_pointcloud_filter_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/radar_static_pointcloud_filter_node.cpp ) -rclcpp_components_register_node(radar_static_pointcloud_filter_node_component - PLUGIN "radar_static_pointcloud_filter::RadarStaticPointcloudFilterNode" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::radar_static_pointcloud_filter::RadarStaticPointcloudFilterNode" EXECUTABLE radar_static_pointcloud_filter_node ) diff --git a/sensing/radar_static_pointcloud_filter/package.xml b/sensing/radar_static_pointcloud_filter/package.xml index b1063562b1708..45c706791535c 100644 --- a/sensing/radar_static_pointcloud_filter/package.xml +++ b/sensing/radar_static_pointcloud_filter/package.xml @@ -20,9 +20,6 @@ radar_msgs rclcpp rclcpp_components - tf2 - tf2_geometry_msgs - tf2_ros ament_clang_format ament_lint_auto diff --git a/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node/radar_static_pointcloud_filter_node.cpp b/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.cpp similarity index 95% rename from sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node/radar_static_pointcloud_filter_node.cpp rename to sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.cpp index 985f30c8e34b5..74c099b9bf32b 100644 --- a/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node/radar_static_pointcloud_filter_node.cpp +++ b/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "radar_static_pointcloud_filter/radar_static_pointcloud_filter_node.hpp" +#include "radar_static_pointcloud_filter_node.hpp" #include #include @@ -75,7 +75,7 @@ geometry_msgs::msg::Vector3 compensateEgoVehicleTwist( } } // namespace -namespace radar_static_pointcloud_filter +namespace autoware::radar_static_pointcloud_filter { using nav_msgs::msg::Odometry; using radar_msgs::msg::RadarReturn; @@ -167,7 +167,8 @@ bool RadarStaticPointcloudFilterNode::isStaticPointcloud( (compensated_velocity.x < node_param_.doppler_velocity_sd); } -} // namespace radar_static_pointcloud_filter +} // namespace autoware::radar_static_pointcloud_filter #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(radar_static_pointcloud_filter::RadarStaticPointcloudFilterNode) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::radar_static_pointcloud_filter::RadarStaticPointcloudFilterNode) diff --git a/sensing/radar_static_pointcloud_filter/include/radar_static_pointcloud_filter/radar_static_pointcloud_filter_node.hpp b/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.hpp similarity index 87% rename from sensing/radar_static_pointcloud_filter/include/radar_static_pointcloud_filter/radar_static_pointcloud_filter_node.hpp rename to sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.hpp index 72a78f35251f7..eff8437eb51d2 100644 --- a/sensing/radar_static_pointcloud_filter/include/radar_static_pointcloud_filter/radar_static_pointcloud_filter_node.hpp +++ b/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef RADAR_STATIC_POINTCLOUD_FILTER__RADAR_STATIC_POINTCLOUD_FILTER_NODE_HPP_ -#define RADAR_STATIC_POINTCLOUD_FILTER__RADAR_STATIC_POINTCLOUD_FILTER_NODE_HPP_ +#ifndef RADAR_STATIC_POINTCLOUD_FILTER_NODE_HPP_ +#define RADAR_STATIC_POINTCLOUD_FILTER_NODE_HPP_ #include "autoware/universe_utils/ros/transform_listener.hpp" @@ -31,7 +31,7 @@ #include #include -namespace radar_static_pointcloud_filter +namespace autoware::radar_static_pointcloud_filter { using nav_msgs::msg::Odometry; using radar_msgs::msg::RadarReturn; @@ -77,6 +77,6 @@ class RadarStaticPointcloudFilterNode : public rclcpp::Node const RadarReturn & radar_return, const Odometry::ConstSharedPtr & odom_msg, geometry_msgs::msg::TransformStamped::ConstSharedPtr transform); }; -} // namespace radar_static_pointcloud_filter +} // namespace autoware::radar_static_pointcloud_filter -#endif // RADAR_STATIC_POINTCLOUD_FILTER__RADAR_STATIC_POINTCLOUD_FILTER_NODE_HPP_ +#endif // RADAR_STATIC_POINTCLOUD_FILTER_NODE_HPP_ From ddae036ea24f7e5a4492ce161d810d9e080dfd4a Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Wed, 10 Jul 2024 15:41:17 +0900 Subject: [PATCH 133/306] feat(lidar_transfusion): update TransFusion-L model (#7890) * add num_proposals Signed-off-by: scepter914 * fix config Signed-off-by: scepter914 * update README Signed-off-by: scepter914 --------- Signed-off-by: scepter914 --- perception/lidar_transfusion/README.md | 4 ++-- .../lidar_transfusion/config/transfusion.param.yaml | 7 ++++--- .../lidar_transfusion/transfusion_config.hpp | 13 ++++++++++--- .../schema/transfusion.schema.json | 6 ++++++ .../src/lidar_transfusion_node.cpp | 5 +++-- 5 files changed, 25 insertions(+), 10 deletions(-) diff --git a/perception/lidar_transfusion/README.md b/perception/lidar_transfusion/README.md index e30403141e8ad..6745cc1f7d219 100644 --- a/perception/lidar_transfusion/README.md +++ b/perception/lidar_transfusion/README.md @@ -81,9 +81,9 @@ ros2 topic echo --field fields You can download the onnx format of trained models by clicking on the links below. -- TransFusion: [transfusion.onnx](https://awf.ml.dev.web.auto/perception/models/transfusion/v1/transfusion.onnx) +- TransFusion: [transfusion.onnx](https://awf.ml.dev.web.auto/perception/models/transfusion/t4xx1_90m/v2/transfusion.onnx) -The model was trained in TIER IV's internal database (~11k lidar frames) for 20 epochs. +The model was trained in TIER IV's internal database (~11k lidar frames) for 50 epochs. ### Changelog diff --git a/perception/lidar_transfusion/config/transfusion.param.yaml b/perception/lidar_transfusion/config/transfusion.param.yaml index feabe359caf1f..2c6680fe50af1 100644 --- a/perception/lidar_transfusion/config/transfusion.param.yaml +++ b/perception/lidar_transfusion/config/transfusion.param.yaml @@ -4,8 +4,9 @@ class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] trt_precision: fp16 voxels_num: [5000, 30000, 60000] # [min, opt, max] - point_cloud_range: [-76.8, -76.8, -3.0, 76.8, 76.8, 5.0] # [x_min, y_min, z_min, x_max, y_max, z_max] - voxel_size: [0.3, 0.3, 8.0] # [x, y, z] + point_cloud_range: [-92.16, -92.16, -3.0, 92.16, 92.16, 7.0] # [x_min, y_min, z_min, x_max, y_max, z_max] + voxel_size: [0.24, 0.24, 10.0] # [x, y, z] + num_proposals: 500 onnx_path: "$(var model_path)/transfusion.onnx" engine_path: "$(var model_path)/transfusion.engine" # pre-process params @@ -17,4 +18,4 @@ iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] # refers to the class_names - score_threshold: 0.2 + score_threshold: 0.1 diff --git a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp b/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp index 31976de56a9da..0ad3ab2231f50 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp +++ b/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp @@ -26,8 +26,9 @@ class TransfusionConfig public: TransfusionConfig( const std::vector & voxels_num, const std::vector & point_cloud_range, - const std::vector & voxel_size, const float circle_nms_dist_threshold, - const std::vector & yaw_norm_thresholds, const float score_threshold) + const std::vector & voxel_size, const int num_proposals, + const float circle_nms_dist_threshold, const std::vector & yaw_norm_thresholds, + const float score_threshold) { if (voxels_num.size() == 3) { max_voxels_ = voxels_num[2]; @@ -61,6 +62,9 @@ class TransfusionConfig voxel_y_size_ = static_cast(voxel_size[1]); voxel_z_size_ = static_cast(voxel_size[2]); } + if (num_proposals > 0) { + num_proposals_ = num_proposals; + } if (score_threshold > 0.0) { score_threshold_ = score_threshold; } @@ -76,6 +80,9 @@ class TransfusionConfig grid_x_size_ = static_cast((max_x_range_ - min_x_range_) / voxel_x_size_); grid_y_size_ = static_cast((max_y_range_ - min_y_range_) / voxel_y_size_); grid_z_size_ = static_cast((max_z_range_ - min_z_range_) / voxel_z_size_); + + feature_x_size_ = grid_x_size_ / out_size_factor_; + feature_y_size_ = grid_y_size_ / out_size_factor_; } ///// INPUT PARAMETERS ///// @@ -107,7 +114,7 @@ class TransfusionConfig const std::size_t out_size_factor_{4}; const std::size_t max_num_points_per_pillar_{points_per_voxel_}; const std::size_t num_point_values_{4}; - const std::size_t num_proposals_{200}; + std::size_t num_proposals_{200}; // the number of feature maps for pillar scatter const std::size_t num_feature_scatter_{pillar_feature_size_}; // the score threshold for classification diff --git a/perception/lidar_transfusion/schema/transfusion.schema.json b/perception/lidar_transfusion/schema/transfusion.schema.json index 41d8d887236a8..7debc0edda6fb 100644 --- a/perception/lidar_transfusion/schema/transfusion.schema.json +++ b/perception/lidar_transfusion/schema/transfusion.schema.json @@ -61,6 +61,12 @@ "default": "$(var model_path)/transfusion.engine", "pattern": "\\.engine$" }, + "num_proposals": { + "type": "integer", + "description": "Number of proposals at TransHead.", + "default": 500, + "minimum": 1 + }, "down_sample_factor": { "type": "integer", "description": "A scale factor of downsampling points", diff --git a/perception/lidar_transfusion/src/lidar_transfusion_node.cpp b/perception/lidar_transfusion/src/lidar_transfusion_node.cpp index e3ea6b3780de8..7f5833e60d6d0 100644 --- a/perception/lidar_transfusion/src/lidar_transfusion_node.cpp +++ b/perception/lidar_transfusion/src/lidar_transfusion_node.cpp @@ -31,6 +31,7 @@ LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options) const auto point_cloud_range = this->declare_parameter>("point_cloud_range", descriptor); const auto voxel_size = this->declare_parameter>("voxel_size", descriptor); + const int num_proposals = (this->declare_parameter("num_proposals", descriptor)); const std::string onnx_path = this->declare_parameter("onnx_path", descriptor); const std::string engine_path = this->declare_parameter("engine_path", descriptor); @@ -73,8 +74,8 @@ LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options) DensificationParam densification_param( densification_world_frame_id, densification_num_past_frames); TransfusionConfig config( - voxels_num, point_cloud_range, voxel_size, circle_nms_dist_threshold, yaw_norm_thresholds, - score_threshold); + voxels_num, point_cloud_range, voxel_size, num_proposals, circle_nms_dist_threshold, + yaw_norm_thresholds, score_threshold); const auto allow_remapping_by_area_matrix = this->declare_parameter>("allow_remapping_by_area_matrix", descriptor); From 2125630d78f0eea19033517543bce10b6fa569a8 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 10 Jul 2024 16:08:05 +0900 Subject: [PATCH 134/306] refactor(radar)!: add package name prefix of autoware_ (#7892) * refactor: rename radar_object_tracker Signed-off-by: Taekjin LEE * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker Signed-off-by: Taekjin LEE * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering Signed-off-by: Taekjin LEE * refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object Signed-off-by: Taekjin LEE * refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter Signed-off-by: Taekjin LEE * refactor: rename object_velocity_splitter to autoware_object_velocity_splitter Signed-off-by: Taekjin LEE * refactor: rename object_range_splitter to autoware_object_range_splitter Signed-off-by: Taekjin LEE * refactor: update readme Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .github/CODEOWNERS | 12 ++++++------ .../detection/detection.launch.xml | 2 +- .../detection/filter/radar_filter.launch.xml | 10 +++++----- .../merger/camera_lidar_radar_merger.launch.xml | 2 +- .../object_recognition/tracking/tracking.launch.xml | 2 +- launch/tier4_perception_launch/package.xml | 12 ++++++------ .../CMakeLists.txt | 2 +- .../README.md | 4 ++-- .../config/object_range_splitter.param.yaml | 0 .../launch/object_range_splitter.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../schema/object_range_splitter.schema.json | 0 .../src/object_range_splitter_node.cpp | 0 .../src/object_range_splitter_node.hpp | 0 .../CMakeLists.txt | 2 +- .../README.md | 2 +- .../config/object_velocity_splitter.param.yaml | 0 .../launch/object_velocity_splitter.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../src/object_velocity_splitter_node.cpp | 0 .../src/object_velocity_splitter_node.hpp | 0 .../CMakeLists.txt | 2 +- .../README.md | 2 +- .../radar_crossing_objects_noise_filter.param.yaml | 0 .../radar_crossing_objects_noise_filter.drawio.svg | 0 .../docs/turning_around.png | Bin .../docs/vertical_velocity_objects.png | Bin .../radar_crossing_objects_noise_filter.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../radar_crossing_objects_noise_filter_node.cpp | 0 .../radar_crossing_objects_noise_filter_node.hpp | 0 .../test/test_radar_crossing_objects_filter.cpp | 0 .../test_radar_crossing_objects_filter_is_noise.cpp | 0 .../CMakeLists.txt | 2 +- .../README.md | 6 +++--- ...adar_object_fusion_to_detected_object.param.yaml | 0 .../docs/algorithm.md | 0 .../radar_fusion_to_detected_object_1.drawio.svg | 0 .../radar_fusion_to_detected_object_2.drawio.svg | 0 .../radar_fusion_to_detected_object_3.drawio.svg | 0 .../radar_fusion_to_detected_object_4.drawio.svg | 0 .../radar_fusion_to_detected_object_5.drawio.svg | 0 .../radar_fusion_to_detected_object_6.drawio.svg | 0 ...adar_object_fusion_to_detected_object.launch.xml | 4 ++-- .../package.xml | 4 ++-- ...dar_object_fusion_to_detected_object.schema.json | 0 .../src/include/node.hpp | 0 .../src/include/radar_fusion_to_detected_object.hpp | 0 .../src/node.cpp | 0 .../src/radar_fusion_to_detected_object.cpp | 0 .../CMakeLists.txt | 2 +- .../README.md | 2 +- .../config/radar_object_clustering.param.yaml | 0 .../docs/clustering.drawio.svg | 0 .../docs/radar_clustering.drawio.svg | 0 .../launch/radar_object_clustering.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../src/radar_object_clustering_node.cpp | 0 .../src/radar_object_clustering_node.hpp | 0 .../CMakeLists.txt | 2 +- .../README.md | 2 +- .../config/data_association_matrix.param.yaml | 0 .../config/default_tracker.param.yaml | 0 .../config/radar_object_tracker.param.yaml | 0 .../config/simulation_tracker.param.yaml | 0 .../tracking/constant_turn_rate_motion_tracker.yaml | 0 .../config/tracking/linear_motion_tracker.yaml | 0 .../image/noise_filtering.drawio.svg | 0 .../association/data_association.hpp | 0 .../association/solver/gnn_solver.hpp | 0 .../association/solver/gnn_solver_interface.hpp | 0 .../association/solver/mu_ssp.hpp | 0 .../association/solver/ssp.hpp | 0 .../model/constant_turn_rate_motion_tracker.hpp | 0 .../tracker/model/linear_motion_tracker.hpp | 0 .../tracker/model/tracker_base.hpp | 0 .../tracker/tracker.hpp | 0 .../utils/radar_object_tracker_utils.hpp | 0 .../autoware_radar_object_tracker/utils/utils.hpp | 0 .../launch/radar_object_tracker.launch.xml | 8 ++++---- .../models.md | 0 .../package.xml | 2 +- .../src/association/data_association.cpp | 0 .../mu_ssp/mu_successive_shortest_path_wrapper.cpp | 0 .../association/ssp/successive_shortest_path.cpp | 0 .../src/radar_object_tracker_node.cpp | 0 .../src/radar_object_tracker_node.hpp | 0 .../model/constant_turn_rate_motion_tracker.cpp | 0 .../src/tracker/model/linear_motion_tracker.cpp | 0 .../src/tracker/model/tracker_base.cpp | 0 .../src/utils/radar_object_tracker_utils.cpp | 0 .../src/utils/utils.cpp | 0 .../test/test_radar_object_tracker_utils.cpp | 0 perception/simple_object_merger/README.md | 2 +- 94 files changed, 61 insertions(+), 61 deletions(-) rename perception/{object_range_splitter => autoware_object_range_splitter}/CMakeLists.txt (90%) rename perception/{object_range_splitter => autoware_object_range_splitter}/README.md (94%) rename perception/{object_range_splitter => autoware_object_range_splitter}/config/object_range_splitter.param.yaml (100%) rename perception/{object_range_splitter => autoware_object_range_splitter}/launch/object_range_splitter.launch.xml (66%) rename perception/{object_range_splitter => autoware_object_range_splitter}/package.xml (86%) rename perception/{object_range_splitter => autoware_object_range_splitter}/schema/object_range_splitter.schema.json (100%) rename perception/{object_range_splitter => autoware_object_range_splitter}/src/object_range_splitter_node.cpp (100%) rename perception/{object_range_splitter => autoware_object_range_splitter}/src/object_range_splitter_node.hpp (100%) rename perception/{object_velocity_splitter => autoware_object_velocity_splitter}/CMakeLists.txt (93%) rename perception/{object_velocity_splitter => autoware_object_velocity_splitter}/README.md (95%) rename perception/{object_velocity_splitter => autoware_object_velocity_splitter}/config/object_velocity_splitter.param.yaml (100%) rename perception/{object_velocity_splitter => autoware_object_velocity_splitter}/launch/object_velocity_splitter.launch.xml (68%) rename perception/{object_velocity_splitter => autoware_object_velocity_splitter}/package.xml (89%) rename perception/{object_velocity_splitter => autoware_object_velocity_splitter}/src/object_velocity_splitter_node.cpp (100%) rename perception/{object_velocity_splitter => autoware_object_velocity_splitter}/src/object_velocity_splitter_node.hpp (100%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/CMakeLists.txt (94%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/README.md (98%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/config/radar_crossing_objects_noise_filter.param.yaml (100%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/docs/radar_crossing_objects_noise_filter.drawio.svg (100%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/docs/turning_around.png (100%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/docs/vertical_velocity_objects.png (100%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/launch/radar_crossing_objects_noise_filter.launch.xml (63%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/package.xml (88%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/src/radar_crossing_objects_noise_filter_node.cpp (100%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/src/radar_crossing_objects_noise_filter_node.hpp (100%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/test/test_radar_crossing_objects_filter.cpp (100%) rename perception/{radar_crossing_objects_noise_filter => autoware_radar_crossing_objects_noise_filter}/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/CMakeLists.txt (93%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/README.md (96%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/config/radar_object_fusion_to_detected_object.param.yaml (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/docs/algorithm.md (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/docs/radar_fusion_to_detected_object_1.drawio.svg (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/docs/radar_fusion_to_detected_object_2.drawio.svg (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/docs/radar_fusion_to_detected_object_3.drawio.svg (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/docs/radar_fusion_to_detected_object_4.drawio.svg (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/docs/radar_fusion_to_detected_object_5.drawio.svg (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/docs/radar_fusion_to_detected_object_6.drawio.svg (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/launch/radar_object_fusion_to_detected_object.launch.xml (60%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/package.xml (89%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/schema/radar_object_fusion_to_detected_object.schema.json (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/src/include/node.hpp (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/src/include/radar_fusion_to_detected_object.hpp (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/src/node.cpp (100%) rename perception/{radar_fusion_to_detected_object => autoware_radar_fusion_to_detected_object}/src/radar_fusion_to_detected_object.cpp (100%) rename perception/{radar_object_clustering => autoware_radar_object_clustering}/CMakeLists.txt (93%) rename perception/{radar_object_clustering => autoware_radar_object_clustering}/README.md (99%) rename perception/{radar_object_clustering => autoware_radar_object_clustering}/config/radar_object_clustering.param.yaml (100%) rename perception/{radar_object_clustering => autoware_radar_object_clustering}/docs/clustering.drawio.svg (100%) rename perception/{radar_object_clustering => autoware_radar_object_clustering}/docs/radar_clustering.drawio.svg (100%) rename perception/{radar_object_clustering => autoware_radar_object_clustering}/launch/radar_object_clustering.launch.xml (55%) rename perception/{radar_object_clustering => autoware_radar_object_clustering}/package.xml (91%) rename perception/{radar_object_clustering => autoware_radar_object_clustering}/src/radar_object_clustering_node.cpp (100%) rename perception/{radar_object_clustering => autoware_radar_object_clustering}/src/radar_object_clustering_node.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/CMakeLists.txt (97%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/README.md (99%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/config/data_association_matrix.param.yaml (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/config/default_tracker.param.yaml (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/config/radar_object_tracker.param.yaml (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/config/simulation_tracker.param.yaml (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/config/tracking/constant_turn_rate_motion_tracker.yaml (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/config/tracking/linear_motion_tracker.yaml (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/image/noise_filtering.drawio.svg (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/association/data_association.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/association/solver/gnn_solver.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/association/solver/mu_ssp.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/association/solver/ssp.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/tracker/model/tracker_base.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/tracker/tracker.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/utils/radar_object_tracker_utils.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/include/autoware_radar_object_tracker/utils/utils.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/launch/radar_object_tracker.launch.xml (63%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/models.md (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/package.xml (96%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/association/data_association.cpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/association/ssp/successive_shortest_path.cpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/radar_object_tracker_node.cpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/radar_object_tracker_node.hpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/tracker/model/constant_turn_rate_motion_tracker.cpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/tracker/model/linear_motion_tracker.cpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/tracker/model/tracker_base.cpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/utils/radar_object_tracker_utils.cpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/src/utils/utils.cpp (100%) rename perception/{radar_object_tracker => autoware_radar_object_tracker}/test/test_radar_object_tracker_utils.cpp (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index ed496d7b7ba74..48e4a9921bb9b 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -122,14 +122,14 @@ 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/object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/object_velocity_splitter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@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/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_crossing_objects_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -perception/radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -perception/radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -perception/radar_object_tracker/** satoshi.tanaka@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@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 +perception/autoware_radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp +perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp +perception/autoware_radar_object_tracker/** satoshi.tanaka@tier4.jp taekjin.lee@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 perception/raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml index b3280fee47364..8f64b624540e7 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -359,7 +359,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml index fe7ab70e9331e..151e3f28739d9 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml @@ -5,28 +5,28 @@ - + - + - + - + @@ -39,7 +39,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml index 6ea745a8bae2c..5bd2c36955b55 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml @@ -89,7 +89,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml index 1975ad2d15eb9..580436411a895 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml @@ -46,7 +46,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 592ef7cf01f86..349472ed5f8d3 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -15,6 +15,12 @@ autoware_crosswalk_traffic_light_estimator autoware_map_based_prediction + autoware_object_range_splitter + autoware_object_velocity_splitter + autoware_radar_crossing_objects_noise_filter + autoware_radar_fusion_to_detected_object + autoware_radar_object_clustering + autoware_radar_object_tracker cluster_merger compare_map_segmentation detected_object_feature_remover @@ -28,16 +34,10 @@ lidar_apollo_instance_segmentation multi_object_tracker object_merger - object_range_splitter - object_velocity_splitter occupancy_grid_map_outlier_filter pointcloud_preprocessor pointcloud_to_laserscan probabilistic_occupancy_grid_map - radar_crossing_objects_noise_filter - radar_fusion_to_detected_object - radar_object_clustering - radar_object_tracker raindrop_cluster_filter shape_estimation topic_tools diff --git a/perception/object_range_splitter/CMakeLists.txt b/perception/autoware_object_range_splitter/CMakeLists.txt similarity index 90% rename from perception/object_range_splitter/CMakeLists.txt rename to perception/autoware_object_range_splitter/CMakeLists.txt index 1da71a31b26d0..2c2d8e4108578 100644 --- a/perception/object_range_splitter/CMakeLists.txt +++ b/perception/autoware_object_range_splitter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(object_range_splitter) +project(autoware_object_range_splitter) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/perception/object_range_splitter/README.md b/perception/autoware_object_range_splitter/README.md similarity index 94% rename from perception/object_range_splitter/README.md rename to perception/autoware_object_range_splitter/README.md index 39375c3139b49..3cdfe36528094 100644 --- a/perception/object_range_splitter/README.md +++ b/perception/autoware_object_range_splitter/README.md @@ -1,8 +1,8 @@ -# object_range_splitter +# `autoware_object_range_splitter` ## Purpose -object_range_splitter is a package to divide detected objects into two messages by the distance from the origin. +autoware_object_range_splitter is a package to divide detected objects into two messages by the distance from the origin. ## Inner-workings / Algorithms diff --git a/perception/object_range_splitter/config/object_range_splitter.param.yaml b/perception/autoware_object_range_splitter/config/object_range_splitter.param.yaml similarity index 100% rename from perception/object_range_splitter/config/object_range_splitter.param.yaml rename to perception/autoware_object_range_splitter/config/object_range_splitter.param.yaml diff --git a/perception/object_range_splitter/launch/object_range_splitter.launch.xml b/perception/autoware_object_range_splitter/launch/object_range_splitter.launch.xml similarity index 66% rename from perception/object_range_splitter/launch/object_range_splitter.launch.xml rename to perception/autoware_object_range_splitter/launch/object_range_splitter.launch.xml index 3f2f3c6ba24c6..77ac04681ac7f 100644 --- a/perception/object_range_splitter/launch/object_range_splitter.launch.xml +++ b/perception/autoware_object_range_splitter/launch/object_range_splitter.launch.xml @@ -3,9 +3,9 @@ - + - + diff --git a/perception/object_range_splitter/package.xml b/perception/autoware_object_range_splitter/package.xml similarity index 86% rename from perception/object_range_splitter/package.xml rename to perception/autoware_object_range_splitter/package.xml index 7fc9245ee894f..1f678f72b7942 100644 --- a/perception/object_range_splitter/package.xml +++ b/perception/autoware_object_range_splitter/package.xml @@ -1,9 +1,9 @@ - object_range_splitter + autoware_object_range_splitter 0.1.0 - The object_range_splitter package + The autoware_object_range_splitter package Yukihiro Saito Yoshi Ri Apache License 2.0 diff --git a/perception/object_range_splitter/schema/object_range_splitter.schema.json b/perception/autoware_object_range_splitter/schema/object_range_splitter.schema.json similarity index 100% rename from perception/object_range_splitter/schema/object_range_splitter.schema.json rename to perception/autoware_object_range_splitter/schema/object_range_splitter.schema.json diff --git a/perception/object_range_splitter/src/object_range_splitter_node.cpp b/perception/autoware_object_range_splitter/src/object_range_splitter_node.cpp similarity index 100% rename from perception/object_range_splitter/src/object_range_splitter_node.cpp rename to perception/autoware_object_range_splitter/src/object_range_splitter_node.cpp diff --git a/perception/object_range_splitter/src/object_range_splitter_node.hpp b/perception/autoware_object_range_splitter/src/object_range_splitter_node.hpp similarity index 100% rename from perception/object_range_splitter/src/object_range_splitter_node.hpp rename to perception/autoware_object_range_splitter/src/object_range_splitter_node.hpp diff --git a/perception/object_velocity_splitter/CMakeLists.txt b/perception/autoware_object_velocity_splitter/CMakeLists.txt similarity index 93% rename from perception/object_velocity_splitter/CMakeLists.txt rename to perception/autoware_object_velocity_splitter/CMakeLists.txt index afad278e383d8..ec6b57083e058 100644 --- a/perception/object_velocity_splitter/CMakeLists.txt +++ b/perception/autoware_object_velocity_splitter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(object_velocity_splitter) +project(autoware_object_velocity_splitter) # Dependencies find_package(autoware_cmake REQUIRED) diff --git a/perception/object_velocity_splitter/README.md b/perception/autoware_object_velocity_splitter/README.md similarity index 95% rename from perception/object_velocity_splitter/README.md rename to perception/autoware_object_velocity_splitter/README.md index 659ae5845f46a..ac57d5d7f6353 100644 --- a/perception/object_velocity_splitter/README.md +++ b/perception/autoware_object_velocity_splitter/README.md @@ -1,4 +1,4 @@ -# object_velocity_splitter +# autoware_object_velocity_splitter This package contains a object filter module for [autoware_perception_msgs/msg/DetectedObject](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_perception_msgs/msg/DetectedObject.idl). This package can split DetectedObjects into two messages by object's speed. diff --git a/perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml b/perception/autoware_object_velocity_splitter/config/object_velocity_splitter.param.yaml similarity index 100% rename from perception/object_velocity_splitter/config/object_velocity_splitter.param.yaml rename to perception/autoware_object_velocity_splitter/config/object_velocity_splitter.param.yaml diff --git a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml b/perception/autoware_object_velocity_splitter/launch/object_velocity_splitter.launch.xml similarity index 68% rename from perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml rename to perception/autoware_object_velocity_splitter/launch/object_velocity_splitter.launch.xml index 8ab654d4907a4..f3a359d0ca246 100644 --- a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml +++ b/perception/autoware_object_velocity_splitter/launch/object_velocity_splitter.launch.xml @@ -5,10 +5,10 @@ - + - + diff --git a/perception/object_velocity_splitter/package.xml b/perception/autoware_object_velocity_splitter/package.xml similarity index 89% rename from perception/object_velocity_splitter/package.xml rename to perception/autoware_object_velocity_splitter/package.xml index 32fd5b2ff6337..eb233150a44d9 100644 --- a/perception/object_velocity_splitter/package.xml +++ b/perception/autoware_object_velocity_splitter/package.xml @@ -1,9 +1,9 @@ - object_velocity_splitter + autoware_object_velocity_splitter 0.1.0 - object_velocity_splitter + autoware_object_velocity_splitter Sathshi Tanaka Shunsuke Miura Yoshi Ri diff --git a/perception/object_velocity_splitter/src/object_velocity_splitter_node.cpp b/perception/autoware_object_velocity_splitter/src/object_velocity_splitter_node.cpp similarity index 100% rename from perception/object_velocity_splitter/src/object_velocity_splitter_node.cpp rename to perception/autoware_object_velocity_splitter/src/object_velocity_splitter_node.cpp diff --git a/perception/object_velocity_splitter/src/object_velocity_splitter_node.hpp b/perception/autoware_object_velocity_splitter/src/object_velocity_splitter_node.hpp similarity index 100% rename from perception/object_velocity_splitter/src/object_velocity_splitter_node.hpp rename to perception/autoware_object_velocity_splitter/src/object_velocity_splitter_node.hpp diff --git a/perception/radar_crossing_objects_noise_filter/CMakeLists.txt b/perception/autoware_radar_crossing_objects_noise_filter/CMakeLists.txt similarity index 94% rename from perception/radar_crossing_objects_noise_filter/CMakeLists.txt rename to perception/autoware_radar_crossing_objects_noise_filter/CMakeLists.txt index 6414739413d5c..aebd29f72b360 100644 --- a/perception/radar_crossing_objects_noise_filter/CMakeLists.txt +++ b/perception/autoware_radar_crossing_objects_noise_filter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(radar_crossing_objects_noise_filter) +project(autoware_radar_crossing_objects_noise_filter) # Dependencies find_package(autoware_cmake REQUIRED) diff --git a/perception/radar_crossing_objects_noise_filter/README.md b/perception/autoware_radar_crossing_objects_noise_filter/README.md similarity index 98% rename from perception/radar_crossing_objects_noise_filter/README.md rename to perception/autoware_radar_crossing_objects_noise_filter/README.md index 96a624a1d4872..846da0a0c11d1 100644 --- a/perception/radar_crossing_objects_noise_filter/README.md +++ b/perception/autoware_radar_crossing_objects_noise_filter/README.md @@ -1,4 +1,4 @@ -# radar_crossing_objects_noise_filter +# autoware_radar_crossing_objects_noise_filter This package contains a radar noise filter module for [autoware_perception_msgs/msg/DetectedObject](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_perception_msgs/msg/DetectedObject.idl). This package can filter the noise objects which cross to the ego vehicle. diff --git a/perception/radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml b/perception/autoware_radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml similarity index 100% rename from perception/radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml rename to perception/autoware_radar_crossing_objects_noise_filter/config/radar_crossing_objects_noise_filter.param.yaml diff --git a/perception/radar_crossing_objects_noise_filter/docs/radar_crossing_objects_noise_filter.drawio.svg b/perception/autoware_radar_crossing_objects_noise_filter/docs/radar_crossing_objects_noise_filter.drawio.svg similarity index 100% rename from perception/radar_crossing_objects_noise_filter/docs/radar_crossing_objects_noise_filter.drawio.svg rename to perception/autoware_radar_crossing_objects_noise_filter/docs/radar_crossing_objects_noise_filter.drawio.svg diff --git a/perception/radar_crossing_objects_noise_filter/docs/turning_around.png b/perception/autoware_radar_crossing_objects_noise_filter/docs/turning_around.png similarity index 100% rename from perception/radar_crossing_objects_noise_filter/docs/turning_around.png rename to perception/autoware_radar_crossing_objects_noise_filter/docs/turning_around.png diff --git a/perception/radar_crossing_objects_noise_filter/docs/vertical_velocity_objects.png b/perception/autoware_radar_crossing_objects_noise_filter/docs/vertical_velocity_objects.png similarity index 100% rename from perception/radar_crossing_objects_noise_filter/docs/vertical_velocity_objects.png rename to perception/autoware_radar_crossing_objects_noise_filter/docs/vertical_velocity_objects.png diff --git a/perception/radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml b/perception/autoware_radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml similarity index 63% rename from perception/radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml rename to perception/autoware_radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml index 25856e12c3ba5..54cafd5086642 100644 --- a/perception/radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml +++ b/perception/autoware_radar_crossing_objects_noise_filter/launch/radar_crossing_objects_noise_filter.launch.xml @@ -5,10 +5,10 @@ - + - + diff --git a/perception/radar_crossing_objects_noise_filter/package.xml b/perception/autoware_radar_crossing_objects_noise_filter/package.xml similarity index 88% rename from perception/radar_crossing_objects_noise_filter/package.xml rename to perception/autoware_radar_crossing_objects_noise_filter/package.xml index d0245dfe62a40..6476d66eef4f8 100644 --- a/perception/radar_crossing_objects_noise_filter/package.xml +++ b/perception/autoware_radar_crossing_objects_noise_filter/package.xml @@ -1,9 +1,9 @@ - radar_crossing_objects_noise_filter + autoware_radar_crossing_objects_noise_filter 0.1.0 - radar_crossing_objects_noise_filter + autoware_radar_crossing_objects_noise_filter Sathshi Tanaka Shunsuke Miura Yoshi Ri diff --git a/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.cpp b/perception/autoware_radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.cpp similarity index 100% rename from perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.cpp rename to perception/autoware_radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.cpp diff --git a/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.hpp b/perception/autoware_radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.hpp similarity index 100% rename from perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.hpp rename to perception/autoware_radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.hpp diff --git a/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_filter.cpp b/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_filter.cpp similarity index 100% rename from perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_filter.cpp rename to perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_filter.cpp diff --git a/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp b/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp similarity index 100% rename from perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp rename to perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp diff --git a/perception/radar_fusion_to_detected_object/CMakeLists.txt b/perception/autoware_radar_fusion_to_detected_object/CMakeLists.txt similarity index 93% rename from perception/radar_fusion_to_detected_object/CMakeLists.txt rename to perception/autoware_radar_fusion_to_detected_object/CMakeLists.txt index 76c27d3958841..aab25d6f54133 100644 --- a/perception/radar_fusion_to_detected_object/CMakeLists.txt +++ b/perception/autoware_radar_fusion_to_detected_object/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(radar_fusion_to_detected_object) +project(autoware_radar_fusion_to_detected_object) # Dependencies find_package(autoware_cmake REQUIRED) diff --git a/perception/radar_fusion_to_detected_object/README.md b/perception/autoware_radar_fusion_to_detected_object/README.md similarity index 96% rename from perception/radar_fusion_to_detected_object/README.md rename to perception/autoware_radar_fusion_to_detected_object/README.md index 831dbd24e4360..c57b710b09619 100644 --- a/perception/radar_fusion_to_detected_object/README.md +++ b/perception/autoware_radar_fusion_to_detected_object/README.md @@ -1,4 +1,4 @@ -# radar_fusion_to_detected_object +# `autoware_radar_fusion_to_detected_object` This package contains a sensor fusion module for radar-detected objects and 3D detected objects. @@ -94,7 +94,7 @@ If the probability of an output object is lower than this parameter, and the out This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability. -## Interface for radar_object_fusion_to_detected_object +## Interface for `autoware_radar_object_fusion_to_detected_object` Sensor fusion with radar objects and a detected object. @@ -105,7 +105,7 @@ Sensor fusion with radar objects and a detected object. ### How to launch ```sh -ros2 launch radar_fusion_to_detected_object radar_object_to_detected_object.launch.xml +ros2 launch autoware_radar_fusion_to_detected_object radar_object_to_detected_object.launch.xml ``` ### Input diff --git a/perception/radar_fusion_to_detected_object/config/radar_object_fusion_to_detected_object.param.yaml b/perception/autoware_radar_fusion_to_detected_object/config/radar_object_fusion_to_detected_object.param.yaml similarity index 100% rename from perception/radar_fusion_to_detected_object/config/radar_object_fusion_to_detected_object.param.yaml rename to perception/autoware_radar_fusion_to_detected_object/config/radar_object_fusion_to_detected_object.param.yaml diff --git a/perception/radar_fusion_to_detected_object/docs/algorithm.md b/perception/autoware_radar_fusion_to_detected_object/docs/algorithm.md similarity index 100% rename from perception/radar_fusion_to_detected_object/docs/algorithm.md rename to perception/autoware_radar_fusion_to_detected_object/docs/algorithm.md diff --git a/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_1.drawio.svg b/perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_1.drawio.svg similarity index 100% rename from perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_1.drawio.svg rename to perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_1.drawio.svg diff --git a/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_2.drawio.svg b/perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_2.drawio.svg similarity index 100% rename from perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_2.drawio.svg rename to perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_2.drawio.svg diff --git a/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_3.drawio.svg b/perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_3.drawio.svg similarity index 100% rename from perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_3.drawio.svg rename to perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_3.drawio.svg diff --git a/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_4.drawio.svg b/perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_4.drawio.svg similarity index 100% rename from perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_4.drawio.svg rename to perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_4.drawio.svg diff --git a/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_5.drawio.svg b/perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_5.drawio.svg similarity index 100% rename from perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_5.drawio.svg rename to perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_5.drawio.svg diff --git a/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_6.drawio.svg b/perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_6.drawio.svg similarity index 100% rename from perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_6.drawio.svg rename to perception/autoware_radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_6.drawio.svg diff --git a/perception/radar_fusion_to_detected_object/launch/radar_object_fusion_to_detected_object.launch.xml b/perception/autoware_radar_fusion_to_detected_object/launch/radar_object_fusion_to_detected_object.launch.xml similarity index 60% rename from perception/radar_fusion_to_detected_object/launch/radar_object_fusion_to_detected_object.launch.xml rename to perception/autoware_radar_fusion_to_detected_object/launch/radar_object_fusion_to_detected_object.launch.xml index e5505ad87d9ec..d074c66464f72 100644 --- a/perception/radar_fusion_to_detected_object/launch/radar_object_fusion_to_detected_object.launch.xml +++ b/perception/autoware_radar_fusion_to_detected_object/launch/radar_object_fusion_to_detected_object.launch.xml @@ -5,10 +5,10 @@ - + - + diff --git a/perception/radar_fusion_to_detected_object/package.xml b/perception/autoware_radar_fusion_to_detected_object/package.xml similarity index 89% rename from perception/radar_fusion_to_detected_object/package.xml rename to perception/autoware_radar_fusion_to_detected_object/package.xml index 2094ff7770555..94a0c55574f60 100644 --- a/perception/radar_fusion_to_detected_object/package.xml +++ b/perception/autoware_radar_fusion_to_detected_object/package.xml @@ -1,9 +1,9 @@ - radar_fusion_to_detected_object + autoware_radar_fusion_to_detected_object 0.0.0 - radar_fusion_to_detected_object + autoware_radar_fusion_to_detected_object Satoshi Tanaka Shunsuke Miura Yoshi Ri diff --git a/perception/radar_fusion_to_detected_object/schema/radar_object_fusion_to_detected_object.schema.json b/perception/autoware_radar_fusion_to_detected_object/schema/radar_object_fusion_to_detected_object.schema.json similarity index 100% rename from perception/radar_fusion_to_detected_object/schema/radar_object_fusion_to_detected_object.schema.json rename to perception/autoware_radar_fusion_to_detected_object/schema/radar_object_fusion_to_detected_object.schema.json diff --git a/perception/radar_fusion_to_detected_object/src/include/node.hpp b/perception/autoware_radar_fusion_to_detected_object/src/include/node.hpp similarity index 100% rename from perception/radar_fusion_to_detected_object/src/include/node.hpp rename to perception/autoware_radar_fusion_to_detected_object/src/include/node.hpp diff --git a/perception/radar_fusion_to_detected_object/src/include/radar_fusion_to_detected_object.hpp b/perception/autoware_radar_fusion_to_detected_object/src/include/radar_fusion_to_detected_object.hpp similarity index 100% rename from perception/radar_fusion_to_detected_object/src/include/radar_fusion_to_detected_object.hpp rename to perception/autoware_radar_fusion_to_detected_object/src/include/radar_fusion_to_detected_object.hpp diff --git a/perception/radar_fusion_to_detected_object/src/node.cpp b/perception/autoware_radar_fusion_to_detected_object/src/node.cpp similarity index 100% rename from perception/radar_fusion_to_detected_object/src/node.cpp rename to perception/autoware_radar_fusion_to_detected_object/src/node.cpp diff --git a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp b/perception/autoware_radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp similarity index 100% rename from perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp rename to perception/autoware_radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp diff --git a/perception/radar_object_clustering/CMakeLists.txt b/perception/autoware_radar_object_clustering/CMakeLists.txt similarity index 93% rename from perception/radar_object_clustering/CMakeLists.txt rename to perception/autoware_radar_object_clustering/CMakeLists.txt index 9a54bbb0dae43..43f6a3f73ebc0 100644 --- a/perception/radar_object_clustering/CMakeLists.txt +++ b/perception/autoware_radar_object_clustering/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(radar_object_clustering) +project(autoware_radar_object_clustering) # Dependencies find_package(autoware_cmake REQUIRED) diff --git a/perception/radar_object_clustering/README.md b/perception/autoware_radar_object_clustering/README.md similarity index 99% rename from perception/radar_object_clustering/README.md rename to perception/autoware_radar_object_clustering/README.md index 8f936ce61a1f3..5fbb4df81a115 100644 --- a/perception/radar_object_clustering/README.md +++ b/perception/autoware_radar_object_clustering/README.md @@ -1,4 +1,4 @@ -# radar_object_clustering +# `autoware_radar_object_clustering` This package contains a radar object clustering for [autoware_perception_msgs/msg/DetectedObject](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_perception_msgs/msg/DetectedObject.idl) input. diff --git a/perception/radar_object_clustering/config/radar_object_clustering.param.yaml b/perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml similarity index 100% rename from perception/radar_object_clustering/config/radar_object_clustering.param.yaml rename to perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml diff --git a/perception/radar_object_clustering/docs/clustering.drawio.svg b/perception/autoware_radar_object_clustering/docs/clustering.drawio.svg similarity index 100% rename from perception/radar_object_clustering/docs/clustering.drawio.svg rename to perception/autoware_radar_object_clustering/docs/clustering.drawio.svg diff --git a/perception/radar_object_clustering/docs/radar_clustering.drawio.svg b/perception/autoware_radar_object_clustering/docs/radar_clustering.drawio.svg similarity index 100% rename from perception/radar_object_clustering/docs/radar_clustering.drawio.svg rename to perception/autoware_radar_object_clustering/docs/radar_clustering.drawio.svg diff --git a/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml b/perception/autoware_radar_object_clustering/launch/radar_object_clustering.launch.xml similarity index 55% rename from perception/radar_object_clustering/launch/radar_object_clustering.launch.xml rename to perception/autoware_radar_object_clustering/launch/radar_object_clustering.launch.xml index 1759c17a5ab6b..a701b9f45b480 100644 --- a/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml +++ b/perception/autoware_radar_object_clustering/launch/radar_object_clustering.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/perception/radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml similarity index 91% rename from perception/radar_object_clustering/package.xml rename to perception/autoware_radar_object_clustering/package.xml index c7666d2c5701e..d9c3464e02b18 100644 --- a/perception/radar_object_clustering/package.xml +++ b/perception/autoware_radar_object_clustering/package.xml @@ -1,9 +1,9 @@ - radar_object_clustering + autoware_radar_object_clustering 0.1.0 - radar_object_clustering + autoware_radar_object_clustering Sathshi Tanaka Shunsuke Miura Yoshi Ri diff --git a/perception/radar_object_clustering/src/radar_object_clustering_node.cpp b/perception/autoware_radar_object_clustering/src/radar_object_clustering_node.cpp similarity index 100% rename from perception/radar_object_clustering/src/radar_object_clustering_node.cpp rename to perception/autoware_radar_object_clustering/src/radar_object_clustering_node.cpp diff --git a/perception/radar_object_clustering/src/radar_object_clustering_node.hpp b/perception/autoware_radar_object_clustering/src/radar_object_clustering_node.hpp similarity index 100% rename from perception/radar_object_clustering/src/radar_object_clustering_node.hpp rename to perception/autoware_radar_object_clustering/src/radar_object_clustering_node.hpp diff --git a/perception/radar_object_tracker/CMakeLists.txt b/perception/autoware_radar_object_tracker/CMakeLists.txt similarity index 97% rename from perception/radar_object_tracker/CMakeLists.txt rename to perception/autoware_radar_object_tracker/CMakeLists.txt index b732ef6cc863c..614dbfc6e1a30 100644 --- a/perception/radar_object_tracker/CMakeLists.txt +++ b/perception/autoware_radar_object_tracker/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(radar_object_tracker) +project(autoware_radar_object_tracker) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/perception/radar_object_tracker/README.md b/perception/autoware_radar_object_tracker/README.md similarity index 99% rename from perception/radar_object_tracker/README.md rename to perception/autoware_radar_object_tracker/README.md index 056a27d8c4ed0..f9ca194de2491 100644 --- a/perception/radar_object_tracker/README.md +++ b/perception/autoware_radar_object_tracker/README.md @@ -1,4 +1,4 @@ -# Radar Object Tracker +# `autoware_radar_object_tracker` ## Purpose diff --git a/perception/radar_object_tracker/config/data_association_matrix.param.yaml b/perception/autoware_radar_object_tracker/config/data_association_matrix.param.yaml similarity index 100% rename from perception/radar_object_tracker/config/data_association_matrix.param.yaml rename to perception/autoware_radar_object_tracker/config/data_association_matrix.param.yaml diff --git a/perception/radar_object_tracker/config/default_tracker.param.yaml b/perception/autoware_radar_object_tracker/config/default_tracker.param.yaml similarity index 100% rename from perception/radar_object_tracker/config/default_tracker.param.yaml rename to perception/autoware_radar_object_tracker/config/default_tracker.param.yaml diff --git a/perception/radar_object_tracker/config/radar_object_tracker.param.yaml b/perception/autoware_radar_object_tracker/config/radar_object_tracker.param.yaml similarity index 100% rename from perception/radar_object_tracker/config/radar_object_tracker.param.yaml rename to perception/autoware_radar_object_tracker/config/radar_object_tracker.param.yaml diff --git a/perception/radar_object_tracker/config/simulation_tracker.param.yaml b/perception/autoware_radar_object_tracker/config/simulation_tracker.param.yaml similarity index 100% rename from perception/radar_object_tracker/config/simulation_tracker.param.yaml rename to perception/autoware_radar_object_tracker/config/simulation_tracker.param.yaml diff --git a/perception/radar_object_tracker/config/tracking/constant_turn_rate_motion_tracker.yaml b/perception/autoware_radar_object_tracker/config/tracking/constant_turn_rate_motion_tracker.yaml similarity index 100% rename from perception/radar_object_tracker/config/tracking/constant_turn_rate_motion_tracker.yaml rename to perception/autoware_radar_object_tracker/config/tracking/constant_turn_rate_motion_tracker.yaml diff --git a/perception/radar_object_tracker/config/tracking/linear_motion_tracker.yaml b/perception/autoware_radar_object_tracker/config/tracking/linear_motion_tracker.yaml similarity index 100% rename from perception/radar_object_tracker/config/tracking/linear_motion_tracker.yaml rename to perception/autoware_radar_object_tracker/config/tracking/linear_motion_tracker.yaml diff --git a/perception/radar_object_tracker/image/noise_filtering.drawio.svg b/perception/autoware_radar_object_tracker/image/noise_filtering.drawio.svg similarity index 100% rename from perception/radar_object_tracker/image/noise_filtering.drawio.svg rename to perception/autoware_radar_object_tracker/image/noise_filtering.drawio.svg diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/association/data_association.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/data_association.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/association/data_association.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/data_association.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/association/solver/gnn_solver.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/solver/gnn_solver.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/association/solver/gnn_solver.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/solver/gnn_solver.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/association/solver/mu_ssp.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/solver/mu_ssp.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/association/solver/mu_ssp.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/solver/mu_ssp.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/association/solver/ssp.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/solver/ssp.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/association/solver/ssp.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/solver/ssp.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/tracker_base.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/tracker_base.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/tracker_base.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/tracker_base.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/tracker.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/tracker.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/tracker.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/tracker.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/utils/radar_object_tracker_utils.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/utils/radar_object_tracker_utils.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/utils/radar_object_tracker_utils.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/utils/radar_object_tracker_utils.hpp diff --git a/perception/radar_object_tracker/include/autoware_radar_object_tracker/utils/utils.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/utils/utils.hpp similarity index 100% rename from perception/radar_object_tracker/include/autoware_radar_object_tracker/utils/utils.hpp rename to perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/utils/utils.hpp diff --git a/perception/radar_object_tracker/launch/radar_object_tracker.launch.xml b/perception/autoware_radar_object_tracker/launch/radar_object_tracker.launch.xml similarity index 63% rename from perception/radar_object_tracker/launch/radar_object_tracker.launch.xml rename to perception/autoware_radar_object_tracker/launch/radar_object_tracker.launch.xml index 313ef4b0f9fcd..16e96e527af94 100644 --- a/perception/radar_object_tracker/launch/radar_object_tracker.launch.xml +++ b/perception/autoware_radar_object_tracker/launch/radar_object_tracker.launch.xml @@ -2,12 +2,12 @@ - - - + + + - + diff --git a/perception/radar_object_tracker/models.md b/perception/autoware_radar_object_tracker/models.md similarity index 100% rename from perception/radar_object_tracker/models.md rename to perception/autoware_radar_object_tracker/models.md diff --git a/perception/radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml similarity index 96% rename from perception/radar_object_tracker/package.xml rename to perception/autoware_radar_object_tracker/package.xml index f104e2d7ea456..50dd70e6cec67 100644 --- a/perception/radar_object_tracker/package.xml +++ b/perception/autoware_radar_object_tracker/package.xml @@ -1,7 +1,7 @@ - radar_object_tracker + autoware_radar_object_tracker 0.0.0 Do tracking radar object Yoshi Ri diff --git a/perception/radar_object_tracker/src/association/data_association.cpp b/perception/autoware_radar_object_tracker/src/association/data_association.cpp similarity index 100% rename from perception/radar_object_tracker/src/association/data_association.cpp rename to perception/autoware_radar_object_tracker/src/association/data_association.cpp diff --git a/perception/radar_object_tracker/src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp b/perception/autoware_radar_object_tracker/src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp similarity index 100% rename from perception/radar_object_tracker/src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp rename to perception/autoware_radar_object_tracker/src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp diff --git a/perception/radar_object_tracker/src/association/ssp/successive_shortest_path.cpp b/perception/autoware_radar_object_tracker/src/association/ssp/successive_shortest_path.cpp similarity index 100% rename from perception/radar_object_tracker/src/association/ssp/successive_shortest_path.cpp rename to perception/autoware_radar_object_tracker/src/association/ssp/successive_shortest_path.cpp diff --git a/perception/radar_object_tracker/src/radar_object_tracker_node.cpp b/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp similarity index 100% rename from perception/radar_object_tracker/src/radar_object_tracker_node.cpp rename to perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp diff --git a/perception/radar_object_tracker/src/radar_object_tracker_node.hpp b/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.hpp similarity index 100% rename from perception/radar_object_tracker/src/radar_object_tracker_node.hpp rename to perception/autoware_radar_object_tracker/src/radar_object_tracker_node.hpp diff --git a/perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp similarity index 100% rename from perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp rename to perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp diff --git a/perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp similarity index 100% rename from perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp rename to perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp diff --git a/perception/radar_object_tracker/src/tracker/model/tracker_base.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp similarity index 100% rename from perception/radar_object_tracker/src/tracker/model/tracker_base.cpp rename to perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp diff --git a/perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp b/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp similarity index 100% rename from perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp rename to perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp diff --git a/perception/radar_object_tracker/src/utils/utils.cpp b/perception/autoware_radar_object_tracker/src/utils/utils.cpp similarity index 100% rename from perception/radar_object_tracker/src/utils/utils.cpp rename to perception/autoware_radar_object_tracker/src/utils/utils.cpp diff --git a/perception/radar_object_tracker/test/test_radar_object_tracker_utils.cpp b/perception/autoware_radar_object_tracker/test/test_radar_object_tracker_utils.cpp similarity index 100% rename from perception/radar_object_tracker/test/test_radar_object_tracker_utils.cpp rename to perception/autoware_radar_object_tracker/test/test_radar_object_tracker_utils.cpp diff --git a/perception/simple_object_merger/README.md b/perception/simple_object_merger/README.md index 782012ff1eaa1..f69b31f70969e 100644 --- a/perception/simple_object_merger/README.md +++ b/perception/simple_object_merger/README.md @@ -25,7 +25,7 @@ Merged objects will not be published until all topic data is received when initi - Post-processing -Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used. For now, [clustering processing](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/radar_object_clustering) can be used as post-processing. +Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used. For now, [clustering processing](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_clustering) can be used as post-processing. ## Interface From 3b1b8ee4a8db32477c0476e7915fcb536d50e4ec Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 10 Jul 2024 16:15:36 +0900 Subject: [PATCH 135/306] fix(tensorrt_common): fix shadowVariable (#7906) * fix:shadowVariable Signed-off-by: kobayu858 * fix:shadowVariable Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../tensorrt_common/src/tensorrt_common.cpp | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/common/tensorrt_common/src/tensorrt_common.cpp b/common/tensorrt_common/src/tensorrt_common.cpp index 2b218cd3e49f2..a22372f74a286 100644 --- a/common/tensorrt_common/src/tensorrt_common.cpp +++ b/common/tensorrt_common/src/tensorrt_common.cpp @@ -427,18 +427,18 @@ bool TrtCommon::buildEngineFromOnnx( layer->setPrecision(nvinfer1::DataType::kHALF); std::cout << "Set kHALF in " << name << std::endl; } - for (int i = num - 1; i >= 0; i--) { - nvinfer1::ILayer * layer = network->getLayer(i); - auto layer_type = layer->getType(); - std::string name = layer->getName(); - if (layer_type == nvinfer1::LayerType::kCONVOLUTION) { - layer->setPrecision(nvinfer1::DataType::kHALF); - std::cout << "Set kHALF in " << name << std::endl; + for (int j = num - 1; j >= 0; j--) { + nvinfer1::ILayer * inner_layer = network->getLayer(j); + auto inner_layer_type = inner_layer->getType(); + std::string inner_name = inner_layer->getName(); + if (inner_layer_type == nvinfer1::LayerType::kCONVOLUTION) { + inner_layer->setPrecision(nvinfer1::DataType::kHALF); + std::cout << "Set kHALF in " << inner_name << std::endl; break; } - if (layer_type == nvinfer1::LayerType::kMATRIX_MULTIPLY) { - layer->setPrecision(nvinfer1::DataType::kHALF); - std::cout << "Set kHALF in " << name << std::endl; + if (inner_layer_type == nvinfer1::LayerType::kMATRIX_MULTIPLY) { + inner_layer->setPrecision(nvinfer1::DataType::kHALF); + std::cout << "Set kHALF in " << inner_name << std::endl; break; } } From f008609da7b2cdeeaf405be8ad2cd1249bdf4bc6 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Wed, 10 Jul 2024 16:26:24 +0900 Subject: [PATCH 136/306] feat(tensorrt_yolox): change CMakeLists to be able to build cuda function without runtime gpu (#7800) change CMakeLists like lidar_centerpoint Signed-off-by: MasatoSaeki --- perception/tensorrt_yolox/CMakeLists.txt | 68 +++++++++++++++++++++--- 1 file changed, 62 insertions(+), 6 deletions(-) diff --git a/perception/tensorrt_yolox/CMakeLists.txt b/perception/tensorrt_yolox/CMakeLists.txt index a5498a845e62e..cac574aff8623 100644 --- a/perception/tensorrt_yolox/CMakeLists.txt +++ b/perception/tensorrt_yolox/CMakeLists.txt @@ -11,13 +11,69 @@ find_package(autoware_cmake REQUIRED) autoware_package() find_package(OpenCV REQUIRED) -include(CheckLanguage) -check_language(CUDA) -if(CMAKE_CUDA_COMPILER) - enable_language(CUDA) + +option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) + +# set flags for CUDA availability +option(CUDA_AVAIL "CUDA available" OFF) +find_package(CUDA) +if(CUDA_FOUND) + find_library(CUBLAS_LIBRARIES cublas HINTS + ${CUDA_TOOLKIT_ROOT_DIR}/lib64 + ${CUDA_TOOLKIT_ROOT_DIR}/lib + ) + if(CUDA_VERBOSE) + message("CUDA is available!") + message("CUDA Libs: ${CUDA_LIBRARIES}") + message("CUDA Headers: ${CUDA_INCLUDE_DIRS}") + endif() + # Note: cublas_device was depreciated in CUDA version 9.2 + # https://forums.developer.nvidia.com/t/where-can-i-find-libcublas-device-so-or-libcublas-device-a/67251/4 + # In LibTorch, CUDA_cublas_device_LIBRARY is used. + unset(CUDA_cublas_device_LIBRARY CACHE) + set(CUDA_AVAIL ON) +else() + message("CUDA NOT FOUND") + set(CUDA_AVAIL OFF) +endif() + +# set flags for TensorRT availability +option(TRT_AVAIL "TensorRT available" OFF) +# try to find the tensorRT modules +find_library(NVINFER nvinfer) +find_library(NVONNXPARSER nvonnxparser) +if(NVINFER AND NVONNXPARSER) + if(CUDA_VERBOSE) + message("TensorRT is available!") + message("NVINFER: ${NVINFER}") + message("NVONNXPARSER: ${NVONNXPARSER}") + endif() + set(TRT_AVAIL ON) else() - message(WARNING "CUDA is not found. preprocess acceleration using CUDA will not be available.") + message("TensorRT is NOT Available") + set(TRT_AVAIL OFF) endif() + +# set flags for CUDNN availability +option(CUDNN_AVAIL "CUDNN available" OFF) +# try to find the CUDNN module +find_library(CUDNN_LIBRARY +NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name} +PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX} +PATH_SUFFIXES lib lib64 bin +DOC "CUDNN library." +) +if(CUDNN_LIBRARY) + if(CUDA_VERBOSE) + message(STATUS "CUDNN is available!") + message(STATUS "CUDNN_LIBRARY: ${CUDNN_LIBRARY}") + endif() + set(CUDNN_AVAIL ON) +else() + message("CUDNN is NOT Available") + set(CUDNN_AVAIL OFF) +endif() + find_package(OpenMP) if(OpenMP_FOUND) set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") @@ -34,7 +90,7 @@ ament_target_dependencies(${PROJECT_NAME} OpenCV ) -if(CMAKE_CUDA_COMPILER) +if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) # Officially, add_library supports .cu file compilation. # However, as of cmake 3.22.1, it seems to fail compilation because compiler flags for # C++ are directly passed to nvcc (they are originally space separated From 2cf21014be070eb6fb52f1e0ac625e66a1f45523 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 10 Jul 2024 18:08:20 +0900 Subject: [PATCH 137/306] chore(localization, map): remove maintainer (#7940) Signed-off-by: kminoda --- launch/tier4_localization_launch/package.xml | 1 - launch/tier4_map_launch/package.xml | 1 - localization/autoware_stop_filter/package.xml | 1 - localization/ekf_localizer/package.xml | 1 - localization/geo_pose_projector/package.xml | 1 - localization/localization_error_monitor/package.xml | 1 - localization/ndt_scan_matcher/package.xml | 1 - localization/twist2accel/package.xml | 1 - localization/yabloc/yabloc_monitor/package.xml | 1 - map/map_loader/package.xml | 1 - map/map_projection_loader/package.xml | 1 - sensing/gnss_poser/package.xml | 1 - sensing/imu_corrector/package.xml | 1 - 13 files changed, 13 deletions(-) diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 150744bbae4a7..b6f3ad4c27eea 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -5,7 +5,6 @@ 0.1.0 The tier4_localization_launch package Yamato Ando - Koji Minoda Kento Yabuuchi Ryu Yamamoto NGUYEN Viet Anh diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index 05643e354cfce..bca5a853d69f7 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -5,7 +5,6 @@ 0.1.0 The tier4_map_launch package Ryu Yamamoto - Koji Minoda Kento Yabuuchi Yamato Ando NGUYEN Viet Anh diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml index dfdbd5f182983..d020f390e5bbf 100644 --- a/localization/autoware_stop_filter/package.xml +++ b/localization/autoware_stop_filter/package.xml @@ -4,7 +4,6 @@ autoware_stop_filter 0.0.0 The stop filter package - Koji Minoda Yamato Ando Masahiro Sakamoto Kento Yabuuchi diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index 9c89867025632..b53538de11f15 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -5,7 +5,6 @@ 0.1.0 The ekf_localizer package Takamasa Horibe - Koji Minoda Yamato Ando Takeshi Ishita Masahiro Sakamoto diff --git a/localization/geo_pose_projector/package.xml b/localization/geo_pose_projector/package.xml index 36b2aec8384ac..3ffa7cb1c7111 100644 --- a/localization/geo_pose_projector/package.xml +++ b/localization/geo_pose_projector/package.xml @@ -5,7 +5,6 @@ 0.1.0 The geo_pose_projector package Yamato Ando - Koji Minoda Masahiro Sakamoto Kento Yabuuchi NGUYEN Viet Anh diff --git a/localization/localization_error_monitor/package.xml b/localization/localization_error_monitor/package.xml index b8a466f95dfab..02602cbebff37 100644 --- a/localization/localization_error_monitor/package.xml +++ b/localization/localization_error_monitor/package.xml @@ -5,7 +5,6 @@ 0.1.0 ros node for monitoring localization error Yamato Ando - Koji Minoda Masahiro Sakamoto Kento Yabuuchi NGUYEN Viet Anh diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml index c69836d77c825..932ee55874cea 100644 --- a/localization/ndt_scan_matcher/package.xml +++ b/localization/ndt_scan_matcher/package.xml @@ -6,7 +6,6 @@ The ndt_scan_matcher package Yamato Ando Kento Yabuuchi - Koji Minoda Masahiro Sakamoto NGUYEN Viet Anh Taiki Yamada diff --git a/localization/twist2accel/package.xml b/localization/twist2accel/package.xml index 0dbce08f309ac..158d8a8a8d283 100644 --- a/localization/twist2accel/package.xml +++ b/localization/twist2accel/package.xml @@ -4,7 +4,6 @@ twist2accel 0.0.0 The acceleration estimation package - Koji Minoda Yamato Ando Masahiro Sakamoto Kento Yabuuchi diff --git a/localization/yabloc/yabloc_monitor/package.xml b/localization/yabloc/yabloc_monitor/package.xml index a42a734dbab31..f3e6cfcdfbe5a 100644 --- a/localization/yabloc/yabloc_monitor/package.xml +++ b/localization/yabloc/yabloc_monitor/package.xml @@ -5,7 +5,6 @@ 0.1.0 YabLoc monitor package Kento Yabuuchi - Koji Minoda Masahiro Sakamoto Yamato Ando NGUYEN Viet Anh diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml index 7c4d9eaf99556..6cceff98a8f9a 100644 --- a/map/map_loader/package.xml +++ b/map/map_loader/package.xml @@ -6,7 +6,6 @@ The map_loader package Yamato Ando Ryu Yamamoto - Koji Minoda Masahiro Sakamoto Kento Yabuuchi NGUYEN Viet Anh diff --git a/map/map_projection_loader/package.xml b/map/map_projection_loader/package.xml index b77ef18ac2293..c36c22c29a0fd 100644 --- a/map/map_projection_loader/package.xml +++ b/map/map_projection_loader/package.xml @@ -4,7 +4,6 @@ map_projection_loader 0.1.0 map_projection_loader package as a ROS 2 node - Koji Minoda Yamato Ando Masahiro Sakamoto Kento Yabuuchi diff --git a/sensing/gnss_poser/package.xml b/sensing/gnss_poser/package.xml index 2de081b6b009f..eef6d690b6e72 100644 --- a/sensing/gnss_poser/package.xml +++ b/sensing/gnss_poser/package.xml @@ -5,7 +5,6 @@ 1.0.0 The ROS 2 gnss_poser package Yamato Ando - Koji Minoda Masahiro Sakamoto Kento Yabuuchi NGUYEN Viet Anh diff --git a/sensing/imu_corrector/package.xml b/sensing/imu_corrector/package.xml index cbc28e2ff0eeb..f5c719d2b4f7e 100644 --- a/sensing/imu_corrector/package.xml +++ b/sensing/imu_corrector/package.xml @@ -6,7 +6,6 @@ The ROS 2 imu_corrector package Yamato Ando Taiki Yamada - Koji Minoda Apache License 2.0 Yamato Ando From d20208cfdebcbe2e68c555dc0dc3d2278c6a6874 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 10 Jul 2024 19:15:11 +0900 Subject: [PATCH 138/306] fix(object_merger): fix shadowVariable (#7941) fix:shadowVariable Signed-off-by: kobayu858 --- .../src/association/solver/successive_shortest_path.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/object_merger/src/association/solver/successive_shortest_path.cpp b/perception/object_merger/src/association/solver/successive_shortest_path.cpp index 782aa1ef4ac31..e384f12d60051 100644 --- a/perception/object_merger/src/association/solver/successive_shortest_path.cpp +++ b/perception/object_merger/src/association/solver/successive_shortest_path.cpp @@ -328,12 +328,12 @@ void SSP::maximizeLinearAssignment( #ifndef NDEBUG // Check if the potentials are feasible potentials - for (int v = 0; v < n_nodes; ++v) { - for (auto it_incident_edge = adjacency_list.at(v).cbegin(); - it_incident_edge != adjacency_list.at(v).cend(); ++it_incident_edge) { + for (int w = 0; w < n_nodes; ++w) { + for (auto it_incident_edge = adjacency_list.at(w).cbegin(); + it_incident_edge != adjacency_list.at(w).cend(); ++it_incident_edge) { if (it_incident_edge->capacity > 0) { double reduced_cost = - it_incident_edge->cost + potentials.at(v) - potentials.at(it_incident_edge->dst); + it_incident_edge->cost + potentials.at(w) - potentials.at(it_incident_edge->dst); assert(reduced_cost >= 0); } } From 83bcf07312c06adc95e644ef69506d8f5f3282d3 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 10 Jul 2024 19:15:34 +0900 Subject: [PATCH 139/306] fix(multi_object_tracker): fix shadowVariable (#7939) fix:shadowVariable Signed-off-by: kobayu858 --- .../src/multi_object_tracker_node.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp index 198d9e2238566..45955ac983dde 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp @@ -350,10 +350,10 @@ void MultiObjectTracker::publish(const rclcpp::Time & time) const debugger_->endPublishTime(this->now(), time); if (debugger_->shouldPublishTentativeObjects()) { - TrackedObjects tentative_objects_msg; - tentative_objects_msg.header.frame_id = world_frame_id_; - processor_->getTentativeObjects(time, tentative_objects_msg); - debugger_->publishTentativeObjects(tentative_objects_msg); + TrackedObjects tentative_output_msg; + tentative_output_msg.header.frame_id = world_frame_id_; + processor_->getTentativeObjects(time, tentative_output_msg); + debugger_->publishTentativeObjects(tentative_output_msg); } debugger_->publishObjectsMarkers(); } From fbefa7ae292b7f3b25fd52e503563899ea8d997a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 10 Jul 2024 19:18:30 +0900 Subject: [PATCH 140/306] fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (#7851) * fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle Signed-off-by: satoshi-ota * chore(schema): update schema Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/manager.cpp | 8 ++-- .../static_obstacle_avoidance.param.yaml | 10 +++- .../data_structs.hpp | 5 +- .../helper.hpp | 47 +++++++++++++++++-- .../parameter_helper.hpp | 8 ++-- .../static_obstacle_avoidance.schema.json | 31 ++++++++---- .../src/manager.cpp | 5 +- .../src/utils.cpp | 23 +++------ 8 files changed, 95 insertions(+), 42 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp index 02b90186d9b2f..8096d2944ee2b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp @@ -137,9 +137,11 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node) { const std::string ns = "avoidance.target_filtering.avoidance_for_ambiguous_vehicle."; - p.enable_avoidance_for_ambiguous_vehicle = getOrDeclareParameter(*node, ns + "enable"); - p.closest_distance_to_wait_and_see_for_ambiguous_vehicle = - getOrDeclareParameter(*node, ns + "closest_distance_to_wait_and_see"); + p.policy_ambiguous_vehicle = getOrDeclareParameter(*node, ns + "policy"); + p.wait_and_see_target_behaviors = + getOrDeclareParameter>(*node, ns + "wait_and_see.target_behaviors"); + p.wait_and_see_th_closest_distance = + getOrDeclareParameter(*node, ns + "wait_and_see.th_closest_distance"); p.time_threshold_for_ambiguous_vehicle = getOrDeclareParameter(*node, ns + "condition.th_stopped_time"); p.distance_threshold_for_ambiguous_vehicle = diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml index 3087ccc93934b..6bd5e0faf1938 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml @@ -138,8 +138,11 @@ # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: - enable: true # [-] - closest_distance_to_wait_and_see: 10.0 # [m] + # policy for ego behavior for ambiguous vehicle. + # "auto" : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically. + # "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode. + # "ignore" : never avoid it. + policy: "auto" # [-] condition: th_stopped_time: 3.0 # [s] th_moving_distance: 1.0 # [m] @@ -149,6 +152,9 @@ crosswalk: front_distance: 30.0 # [m] behind_distance: 30.0 # [m] + wait_and_see: + target_behaviors: ["MERGING", "DEVIATING"] # [-] + th_closest_distance: 10.0 # [m] # params for filtering objects that are in intersection intersection: diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp index 49599004e0952..079928a58bd9f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp @@ -108,7 +108,7 @@ struct AvoidanceParameters bool enable_cancel_maneuver{false}; // enable avoidance for all parking vehicle - bool enable_avoidance_for_ambiguous_vehicle{false}; + std::string policy_ambiguous_vehicle{"ignore"}; // enable yield maneuver. bool enable_yield_maneuver{false}; @@ -192,7 +192,8 @@ struct AvoidanceParameters double object_check_min_road_shoulder_width{0.0}; // force avoidance - double closest_distance_to_wait_and_see_for_ambiguous_vehicle{0.0}; + std::vector wait_and_see_target_behaviors{"NONE", "MERGING", "DEVIATING"}; + double wait_and_see_th_closest_distance{0.0}; double time_threshold_for_ambiguous_vehicle{0.0}; double distance_threshold_for_ambiguous_vehicle{0.0}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp index 8c46affbc64e3..bfeb942c82be3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp @@ -23,6 +23,7 @@ #include #include #include +#include #include #include @@ -325,10 +326,27 @@ class AvoidanceHelper const auto object = objects.front(); + // if the object is NOT ambiguous, this module doesn't wait operator approval if RTC is running + // as AUTO mode. if (!object.is_ambiguous) { return true; } + // check only front objects. + if (object.longitudinal < 0.0) { + return true; + } + + // if the policy is "manual", this module generates candidate path and waits approval. + if (parameters_->policy_ambiguous_vehicle == "manual") { + return false; + } + + // don't delay avoidance start position if it's not MERGING or DEVIATING vehicle. + if (!isWaitAndSeeTarget(object)) { + return true; + } + if (!object.avoid_margin.has_value()) { return true; } @@ -341,9 +359,32 @@ class AvoidanceHelper const auto constant_distance = getFrontConstantDistance(object); const auto avoidance_distance = getMinAvoidanceDistance(desire_shift_length); - return object.longitudinal < - prepare_distance + constant_distance + avoidance_distance + - parameters_->closest_distance_to_wait_and_see_for_ambiguous_vehicle; + return object.longitudinal < prepare_distance + constant_distance + avoidance_distance + + parameters_->wait_and_see_th_closest_distance; + } + + bool isWaitAndSeeTarget(const ObjectData & object) const + { + const auto & behaviors = parameters_->wait_and_see_target_behaviors; + if (object.behavior == ObjectData::Behavior::MERGING) { + return std::any_of(behaviors.begin(), behaviors.end(), [](const std::string & behavior) { + return behavior == "MERGING"; + }); + } + + if (object.behavior == ObjectData::Behavior::DEVIATING) { + return std::any_of(behaviors.begin(), behaviors.end(), [](const std::string & behavior) { + return behavior == "DEVIATING"; + }); + } + + if (object.behavior == ObjectData::Behavior::NONE) { + return std::any_of(behaviors.begin(), behaviors.end(), [](const std::string & behavior) { + return behavior == "NONE"; + }); + } + + return false; } static bool isAbsolutelyNotAvoidable(const ObjectData & object) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp index 84cf7c4e33d26..0cea2a4e633c3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp @@ -137,9 +137,11 @@ AvoidanceParameters getParameter(rclcpp::Node * node) { const std::string ns = "avoidance.target_filtering.avoidance_for_ambiguous_vehicle."; - p.enable_avoidance_for_ambiguous_vehicle = getOrDeclareParameter(*node, ns + "enable"); - p.closest_distance_to_wait_and_see_for_ambiguous_vehicle = - getOrDeclareParameter(*node, ns + "closest_distance_to_wait_and_see"); + p.policy_ambiguous_vehicle = getOrDeclareParameter(*node, ns + "policy"); + p.wait_and_see_target_behaviors = + getOrDeclareParameter>(*node, ns + "wait_and_see.target_behaviors"); + p.wait_and_see_th_closest_distance = + getOrDeclareParameter(*node, ns + "wait_and_see.th_closest_distance"); p.time_threshold_for_ambiguous_vehicle = getOrDeclareParameter(*node, ns + "condition.th_stopped_time"); p.distance_threshold_for_ambiguous_vehicle = diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json index db3215fa8d238..246b96ec5440e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json @@ -716,9 +716,10 @@ "avoidance_for_ambiguous_vehicle": { "type": "object", "properties": { - "enable": { - "type": "boolean", - "description": "Enable avoidance maneuver for ambiguous vehicles.", + "policy": { + "type": "string", + "enum": ["auto", "manual", "ignore"], + "description": "Ego behavior policy for ambiguous vehicle.", "default": "true" }, "closest_distance_to_wait_and_see": { @@ -778,14 +779,26 @@ }, "required": ["traffic_light", "crosswalk"], "additionalProperties": false + }, + "wait_and_see": { + "type": "object", + "properties": { + "target_behaviors": { + "type": "array", + "default": ["MERGING", "DEVIATING"], + "description": "This module doesn't avoid these behaviors vehicle until it gets closer than threshold." + }, + "th_closest_distance": { + "type": "number", + "default": 10.0, + "description": "Threshold to check whether the ego gets close enough the ambiguous vehicle." + } + }, + "required": ["target_behaviors", "th_closest_distance"], + "additionalProperties": false } }, - "required": [ - "enable", - "closest_distance_to_wait_and_see", - "condition", - "ignore_area" - ], + "required": ["policy", "condition", "ignore_area", "wait_and_see"], "additionalProperties": false }, "intersection": { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp index 2d02f33e19870..c5f338e91acbd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp @@ -132,10 +132,9 @@ void StaticObstacleAvoidanceModuleManager::updateModuleParams( { const std::string ns = "avoidance.avoidance.lateral.avoidance_for_ambiguous_vehicle."; - updateParam(parameters, ns + "enable", p->enable_avoidance_for_ambiguous_vehicle); + updateParam(parameters, ns + "policy", p->policy_ambiguous_vehicle); updateParam( - parameters, ns + "closest_distance_to_wait_and_see", - p->closest_distance_to_wait_and_see_for_ambiguous_vehicle); + parameters, ns + "wait_and_see.th_closest_distance", p->wait_and_see_th_closest_distance); updateParam( parameters, ns + "condition.th_stopped_time", p->time_threshold_for_ambiguous_vehicle); updateParam( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index ddc544553f30e..75eb6ab0fb62e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -880,7 +880,7 @@ bool isSatisfiedWithVehicleCondition( // from here, filtering for ambiguous vehicle. - if (!parameters->enable_avoidance_for_ambiguous_vehicle) { + if (parameters->policy_ambiguous_vehicle == "ignore") { object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; return false; } @@ -889,6 +889,7 @@ bool isSatisfiedWithVehicleCondition( object.stop_time > parameters->time_threshold_for_ambiguous_vehicle; if (!stop_time_longer_than_threshold) { object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; + object.is_ambiguous = false; return false; } @@ -897,6 +898,7 @@ bool isSatisfiedWithVehicleCondition( parameters->distance_threshold_for_ambiguous_vehicle; if (is_moving_distance_longer_than_threshold) { object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; + object.is_ambiguous = false; return false; } @@ -907,22 +909,9 @@ bool isSatisfiedWithVehicleCondition( return true; } } else { - if (object.behavior == ObjectData::Behavior::MERGING) { - object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; - object.is_ambiguous = true; - return true; - } - - if (object.behavior == ObjectData::Behavior::DEVIATING) { - object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; - object.is_ambiguous = true; - return true; - } - - if (object.behavior == ObjectData::Behavior::NONE) { - object.is_ambiguous = false; - return true; - } + object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; + object.is_ambiguous = true; + return true; } object.info = ObjectInfo::IS_NOT_PARKING_OBJECT; From 49c30635e80f63ebc2c42e2a244bf4bafd0b7c64 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 10 Jul 2024 20:31:22 +0900 Subject: [PATCH 141/306] fix(lidar_apollo_segmentation_tvm): fix shadowVariable (#7938) fix:shadowVariable Signed-off-by: kobayu858 --- .../src/lidar_apollo_segmentation_tvm.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp index c83e4836c1dd0..32211bf84efec 100644 --- a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp +++ b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp @@ -202,10 +202,10 @@ std::shared_ptr ApolloLidarSegmentation::detec output->header = input.header; // move down pointcloud z_offset in z axis - for (std::size_t i = 0; i < output->feature_objects.size(); i++) { - sensor_msgs::msg::PointCloud2 transformed_cloud; - transformCloud(output->feature_objects.at(i).feature.cluster, transformed_cloud, -z_offset_); - output->feature_objects.at(i).feature.cluster = transformed_cloud; + for (auto & feature_object : output->feature_objects) { + sensor_msgs::msg::PointCloud2 updated_cloud; + transformCloud(feature_object.feature.cluster, updated_cloud, -z_offset_); + feature_object.feature.cluster = updated_cloud; } return output; From da0547c6bda82df6565db612703e2d29906aa772 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 11 Jul 2024 00:11:18 +0900 Subject: [PATCH 142/306] test(euclidean_cluster): add unit tests (#7735) * chore(euclidean_cluster): add unit tests Signed-off-by: badai-nguyen * fix: pre-commit Signed-off-by: badai-nguyen * fix: namespace update Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- perception/euclidean_cluster/CMakeLists.txt | 8 + perception/euclidean_cluster/package.xml | 3 + ...est_voxel_grid_based_euclidean_cluster.cpp | 173 ++++++++++++++++++ 3 files changed, 184 insertions(+) create mode 100644 perception/euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp diff --git a/perception/euclidean_cluster/CMakeLists.txt b/perception/euclidean_cluster/CMakeLists.txt index dacbcf460a14a..d27390ae7707a 100644 --- a/perception/euclidean_cluster/CMakeLists.txt +++ b/perception/euclidean_cluster/CMakeLists.txt @@ -55,7 +55,15 @@ rclcpp_components_register_node(${PROJECT_NAME}_voxel_grid_node_core EXECUTABLE voxel_grid_based_euclidean_cluster_node ) +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + ament_auto_add_gtest(test_voxel_grid_based_euclidean_cluster_fusion + test/test_voxel_grid_based_euclidean_cluster.cpp + ) +endif() + ament_auto_package(INSTALL_TO_SHARE launch config + test ) diff --git a/perception/euclidean_cluster/package.xml b/perception/euclidean_cluster/package.xml index 2644786ead061..45b5d05031c72 100644 --- a/perception/euclidean_cluster/package.xml +++ b/perception/euclidean_cluster/package.xml @@ -12,6 +12,7 @@ autoware_cmake autoware_perception_msgs + autoware_point_types autoware_universe_utils geometry_msgs libpcl-all-dev @@ -21,6 +22,8 @@ sensor_msgs tier4_perception_msgs + ament_cmake_gtest + ament_lint_auto autoware_lint_common diff --git a/perception/euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp b/perception/euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp new file mode 100644 index 0000000000000..7d2edbe0de0d7 --- /dev/null +++ b/perception/euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp @@ -0,0 +1,173 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" + +#include +#include + +#include +#include +#include + +#include + +using autoware_point_types::PointXYZI; +void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) +{ + pointcloud.fields.resize(4); + pointcloud.fields[0].name = "x"; + pointcloud.fields[1].name = "y"; + pointcloud.fields[2].name = "z"; + pointcloud.fields[3].name = "intensity"; + pointcloud.fields[0].offset = 0; + pointcloud.fields[1].offset = 4; + pointcloud.fields[2].offset = 8; + pointcloud.fields[3].offset = 12; + pointcloud.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[3].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[0].count = 1; + pointcloud.fields[1].count = 1; + pointcloud.fields[2].count = 1; + pointcloud.fields[3].count = 1; + pointcloud.height = 1; + pointcloud.point_step = 16; + pointcloud.is_bigendian = false; + pointcloud.is_dense = true; + pointcloud.header.frame_id = "dummy_frame_id"; + pointcloud.header.stamp.sec = 0; + pointcloud.header.stamp.nanosec = 0; +} + +sensor_msgs::msg::PointCloud2 generateClusterWithinVoxel(const int nb_points) +{ + sensor_msgs::msg::PointCloud2 pointcloud; + setPointCloud2Fields(pointcloud); + pointcloud.data.resize(nb_points * pointcloud.point_step); + + // generate one cluster with specified number of points within 1 voxel + for (int i = 0; i < nb_points; ++i) { + PointXYZI point; + point.x = std::experimental::randint(0, 30) / 100.0; // point.x within 0.0 to 0.3 + point.y = std::experimental::randint(0, 30) / 100.0; // point.y within 0.0 to 0.3 + point.z = std::experimental::randint(0, 30) / 1.0; + point.intensity = 0.0; + memcpy(&pointcloud.data[i * pointcloud.point_step], &point, pointcloud.point_step); + } + pointcloud.width = nb_points; + pointcloud.row_step = pointcloud.point_step * nb_points; + return pointcloud; +} + +// Test case 1: Test case when the input pointcloud has only one cluster with points number equal to +// max_cluster_size +TEST(VoxelGridBasedEuclideanClusterTest, testcase1) +{ + int nb_generated_points = 100; + sensor_msgs::msg::PointCloud2 pointcloud = generateClusterWithinVoxel(nb_generated_points); + + const sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_msg = + std::make_shared(pointcloud); + tier4_perception_msgs::msg::DetectedObjectsWithFeature output; + std::shared_ptr cluster_; + float tolerance = 0.7; + float voxel_leaf_size = 0.3; + int min_points_number_per_voxel = 1; + int min_cluster_size = 1; + int max_cluster_size = 100; + bool use_height = false; + cluster_ = std::make_shared( + use_height, min_cluster_size, max_cluster_size, tolerance, voxel_leaf_size, + min_points_number_per_voxel); + if (cluster_->cluster(pointcloud_msg, output)) { + std::cout << "cluster success" << std::endl; + } else { + std::cout << "cluster failed" << std::endl; + } + std::cout << "number of output clusters " << output.feature_objects.size() << std::endl; + std::cout << "number points of first cluster: " << output.feature_objects[0].feature.cluster.width + << std::endl; + // the output clusters should has only one cluster with nb_generated_points points + EXPECT_EQ(output.feature_objects.size(), 1); + EXPECT_EQ(output.feature_objects[0].feature.cluster.width, nb_generated_points); +} + +// Test case 2: Test case when the input pointcloud has only one cluster with points number less +// than min_cluster_size +TEST(VoxelGridBasedEuclideanClusterTest, testcase2) +{ + int nb_generated_points = 1; + + sensor_msgs::msg::PointCloud2 pointcloud = generateClusterWithinVoxel(nb_generated_points); + + const sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_msg = + std::make_shared(pointcloud); + tier4_perception_msgs::msg::DetectedObjectsWithFeature output; + std::shared_ptr cluster_; + float tolerance = 0.7; + float voxel_leaf_size = 0.3; + int min_points_number_per_voxel = 1; + int min_cluster_size = 2; + int max_cluster_size = 100; + bool use_height = false; + cluster_ = std::make_shared( + use_height, min_cluster_size, max_cluster_size, tolerance, voxel_leaf_size, + min_points_number_per_voxel); + if (cluster_->cluster(pointcloud_msg, output)) { + std::cout << "cluster success" << std::endl; + } else { + std::cout << "cluster failed" << std::endl; + } + std::cout << "number of output clusters " << output.feature_objects.size() << std::endl; + // the output clusters should be empty + EXPECT_EQ(output.feature_objects.size(), 0); +} + +// Test case 3: Test case when the input pointcloud has two clusters with points number greater to +// max_cluster_size +TEST(VoxelGridBasedEuclideanClusterTest, testcase3) +{ + int nb_generated_points = 100; + sensor_msgs::msg::PointCloud2 pointcloud = generateClusterWithinVoxel(nb_generated_points); + + const sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_msg = + std::make_shared(pointcloud); + tier4_perception_msgs::msg::DetectedObjectsWithFeature output; + std::shared_ptr cluster_; + float tolerance = 0.7; + float voxel_leaf_size = 0.3; + int min_points_number_per_voxel = 1; + int min_cluster_size = 1; + int max_cluster_size = 99; // max_cluster_size is less than nb_generated_points + bool use_height = false; + cluster_ = std::make_shared( + use_height, min_cluster_size, max_cluster_size, tolerance, voxel_leaf_size, + min_points_number_per_voxel); + if (cluster_->cluster(pointcloud_msg, output)) { + std::cout << "cluster success" << std::endl; + } else { + std::cout << "cluster failed" << std::endl; + } + std::cout << "number of output clusters " << output.feature_objects.size() << std::endl; + // the output clusters should be emtpy + EXPECT_EQ(output.feature_objects.size(), 0); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} From 5ba8bc49a5e49f213e754d8bc06809e79e01aa1b Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 11 Jul 2024 09:48:50 +0900 Subject: [PATCH 143/306] fix(autoware_radar_object_tracker): fix shadowVariable (#7945) fix:shadowVariable Signed-off-by: kobayu858 --- .../src/association/ssp/successive_shortest_path.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/autoware_radar_object_tracker/src/association/ssp/successive_shortest_path.cpp b/perception/autoware_radar_object_tracker/src/association/ssp/successive_shortest_path.cpp index 7877fe5451d8d..d18e4f140e2ed 100644 --- a/perception/autoware_radar_object_tracker/src/association/ssp/successive_shortest_path.cpp +++ b/perception/autoware_radar_object_tracker/src/association/ssp/successive_shortest_path.cpp @@ -328,12 +328,12 @@ void SSP::maximizeLinearAssignment( #ifndef NDEBUG // Check if the potentials are feasible potentials - for (int v = 0; v < n_nodes; ++v) { - for (auto it_incident_edge = adjacency_list.at(v).cbegin(); - it_incident_edge != adjacency_list.at(v).cend(); ++it_incident_edge) { + for (int w = 0; w < n_nodes; ++w) { + for (auto it_incident_edge = adjacency_list.at(w).cbegin(); + it_incident_edge != adjacency_list.at(w).cend(); ++it_incident_edge) { if (it_incident_edge->capacity > 0) { double reduced_cost = - it_incident_edge->cost + potentials.at(v) - potentials.at(it_incident_edge->dst); + it_incident_edge->cost + potentials.at(w) - potentials.at(it_incident_edge->dst); assert(reduced_cost >= 0); } } From 2af1f1dccc845d090ee28a20fa40e78a79d1e9a9 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 11 Jul 2024 09:49:30 +0900 Subject: [PATCH 144/306] fix(tensorrt_yolox): fix shadowVariable (#7947) fix:shadowVariable Signed-off-by: kobayu858 --- perception/tensorrt_yolox/src/tensorrt_yolox.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp index 94c795cfc2403..bb6975d7a1f21 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp @@ -130,12 +130,12 @@ std::vector get_seg_colormap(const std::string & filen cmap.name = name; colormapString.erase(0, npos + 1); while (!colormapString.empty()) { - size_t npos = colormapString.find_first_of(','); - if (npos != std::string::npos) { - substr = colormapString.substr(0, npos); + size_t inner_npos = colormapString.find_first_of(','); + if (inner_npos != std::string::npos) { + substr = colormapString.substr(0, inner_npos); unsigned char c = (unsigned char)std::stoi(trim(substr)); cmap.color.push_back(c); - colormapString.erase(0, npos + 1); + colormapString.erase(0, inner_npos + 1); } else { unsigned char c = (unsigned char)std::stoi(trim(colormapString)); cmap.color.push_back(c); From c401da500b1dba34374182bdbbac78723e0347f8 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 11 Jul 2024 09:50:16 +0900 Subject: [PATCH 145/306] fix(tracking_object_merger): fix shadowVariable (#7948) fix:shadowVariable Signed-off-by: kobayu858 --- .../src/association/solver/successive_shortest_path.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp b/perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp index 7be715b24bd5f..7d792c157d356 100644 --- a/perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp +++ b/perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp @@ -328,12 +328,12 @@ void SSP::maximizeLinearAssignment( #ifndef NDEBUG // Check if the potentials are feasible potentials - for (int v = 0; v < n_nodes; ++v) { - for (auto it_incident_edge = adjacency_list.at(v).cbegin(); - it_incident_edge != adjacency_list.at(v).cend(); ++it_incident_edge) { + for (int w = 0; w < n_nodes; ++w) { + for (auto it_incident_edge = adjacency_list.at(w).cbegin(); + it_incident_edge != adjacency_list.at(w).cend(); ++it_incident_edge) { if (it_incident_edge->capacity > 0) { double reduced_cost = - it_incident_edge->cost + potentials.at(v) - potentials.at(it_incident_edge->dst); + it_incident_edge->cost + potentials.at(w) - potentials.at(it_incident_edge->dst); assert(reduced_cost >= 0); } } From 997db55631306187b3842c8aab0ad4fa5a1c081c Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Thu, 11 Jul 2024 11:09:24 +0900 Subject: [PATCH 146/306] fix(lidar_transfusion): install lib (#7953) Signed-off-by: Amadeusz Szymko --- perception/lidar_transfusion/CMakeLists.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/perception/lidar_transfusion/CMakeLists.txt b/perception/lidar_transfusion/CMakeLists.txt index 677a835e5b04e..15c89beb15d3e 100644 --- a/perception/lidar_transfusion/CMakeLists.txt +++ b/perception/lidar_transfusion/CMakeLists.txt @@ -134,6 +134,11 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE lidar_transfusion_node ) + install( + TARGETS transfusion_cuda_lib + DESTINATION lib + ) + if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() From 56c7bc687b13e9971aeefacdc930dbd9c27e98d9 Mon Sep 17 00:00:00 2001 From: SHtokuda <165623782+shtokuda@users.noreply.github.com> Date: Thu, 11 Jul 2024 11:28:18 +0900 Subject: [PATCH 147/306] fix(autoware_external_cmd_converter): fix check_topic_state (#7921) * fix(autoware_external_cmd_converter): fix check_topic_state Signed-off-by: shtokuda * style(pre-commit): autofix * Update vehicle/autoware_external_cmd_converter/src/node.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> * style(pre-commit): autofix --------- Signed-off-by: shtokuda Co-authored-by: shtokuda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> --- .../autoware_external_cmd_converter/src/node.cpp | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index cbff8ab5ef2ce..22fc1c319a4e3 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -179,6 +179,9 @@ void ExternalCmdConverterNode::check_topic_status( { using diagnostic_msgs::msg::DiagnosticStatus; DiagnosticStatus status; + + current_gate_mode_ = gate_mode_sub_.takeData(); + if (!check_emergency_stop_topic_timeout()) { status.level = DiagnosticStatus::ERROR; status.message = "emergency stop topic is timeout"; @@ -195,6 +198,14 @@ void ExternalCmdConverterNode::check_topic_status( bool ExternalCmdConverterNode::check_emergency_stop_topic_timeout() { + if (!current_gate_mode_) { + return true; + } + + if (current_gate_mode_->data == tier4_control_msgs::msg::GateMode::AUTO) { + latest_emergency_stop_heartbeat_received_time_ = nullptr; + } + if (!latest_emergency_stop_heartbeat_received_time_) { return wait_for_first_topic_; } @@ -205,8 +216,6 @@ bool ExternalCmdConverterNode::check_emergency_stop_topic_timeout() bool ExternalCmdConverterNode::check_remote_topic_rate() { - current_gate_mode_ = gate_mode_sub_.takeData(); - if (!current_gate_mode_) { return true; } From d5f68ac611055ea4e776afc347d6dd238bf64881 Mon Sep 17 00:00:00 2001 From: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Date: Thu, 11 Jul 2024 13:08:28 +0900 Subject: [PATCH 148/306] feat(obstacle_cruise_planner): prevent chattering when using point cloud (#7861) * prevent chattering of stop planning Signed-off-by: mitukou1109 * Update planning/autoware_obstacle_cruise_planner/src/node.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * fix stop position oscillation Signed-off-by: mitukou1109 --------- Signed-off-by: mitukou1109 Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --- .../autoware/obstacle_cruise_planner/node.hpp | 13 +++-- .../src/node.cpp | 47 +++++++++++++++---- 2 files changed, 46 insertions(+), 14 deletions(-) diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp index b96605f57b943..d4094ff08c3f0 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp @@ -192,10 +192,13 @@ class ObstacleCruisePlannerNode : public rclcpp::Node // planner std::unique_ptr planner_ptr_{nullptr}; - // previous obstacles - std::vector prev_stop_obstacles_; - std::vector prev_cruise_obstacles_; - std::vector prev_slow_down_obstacles_; + // previous PredictedObject-based obstacles + std::vector prev_stop_object_obstacles_; + std::vector prev_cruise_object_obstacles_; + std::vector prev_slow_down_object_obstacles_; + + // PointCloud-based stop obstacle history + std::vector stop_pc_obstacle_history_; // behavior determination parameter struct BehaviorDeterminationParam @@ -303,7 +306,7 @@ class ObstacleCruisePlannerNode : public rclcpp::Node bool enable_slow_down_planning_{false}; bool use_pointcloud_{false}; - std::vector prev_closest_stop_obstacles_{}; + std::vector prev_closest_stop_object_obstacles_{}; std::unique_ptr logger_configure_; diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index ec0b70e4e1b2d..2734ee8866c6e 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -597,7 +597,7 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms concatenate(cruise_obstacles, cruise_object_obstacles); concatenate(slow_down_obstacles, slow_down_object_obstacles); } - if (pointcloud_ptr && !pointcloud_ptr->data.empty()) { + if (pointcloud_ptr) { const auto target_obstacles = convertToObstacles(ego_odom, *pointcloud_ptr, traj_points, msg->header); @@ -822,7 +822,7 @@ std::vector ObstacleCruisePlannerNode::convertToObstacles( transform_stamped = std::nullopt; } - if (transform_stamped) { + if (!pointcloud.data.empty() && transform_stamped) { // 1. transform pointcloud PointCloud::Ptr pointcloud_ptr(new PointCloud); pcl::fromROSMsg(pointcloud, *pointcloud_ptr); @@ -1033,9 +1033,9 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstPredictedObjectObstacles( checkConsistency(objects.header.stamp, objects, stop_obstacles); // update previous obstacles - prev_stop_obstacles_ = stop_obstacles; - prev_cruise_obstacles_ = cruise_obstacles; - prev_slow_down_obstacles_ = slow_down_obstacles; + prev_stop_object_obstacles_ = stop_obstacles; + prev_cruise_object_obstacles_ = cruise_obstacles; + prev_slow_down_object_obstacles_ = slow_down_obstacles; const double calculation_time = stop_watch_.toc(__func__); RCLCPP_INFO_EXPRESSION( @@ -1052,6 +1052,8 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstPointCloudObstacles( { stop_watch_.tic(__func__); + const auto & p = behavior_determination_param_; + // calculated decimated trajectory points and trajectory polygon const auto decimated_traj_points = decimateTrajectoryPoints(odometry, traj_points); const auto decimated_traj_polys = @@ -1078,6 +1080,32 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstPointCloudObstacles( } } + std::vector past_stop_obstacles; + for (auto itr = stop_pc_obstacle_history_.begin(); itr != stop_pc_obstacle_history_.end();) { + const double elapsed_time = (rclcpp::Time(odometry.header.stamp) - itr->stamp).seconds(); + if (elapsed_time >= p.stop_obstacle_hold_time_threshold) { + itr = stop_pc_obstacle_history_.erase(itr); + continue; + } + + const auto lat_dist_from_obstacle_to_traj = + autoware::motion_utils::calcLateralOffset(traj_points, itr->collision_point); + const auto min_lat_dist_to_traj_poly = + std::abs(lat_dist_from_obstacle_to_traj) - vehicle_info_.vehicle_width_m; + + if (min_lat_dist_to_traj_poly < p.max_lat_margin_for_stop_against_unknown) { + auto stop_obstacle = *itr; + stop_obstacle.dist_to_collide_on_decimated_traj = autoware::motion_utils::calcSignedArcLength( + decimated_traj_points, 0, stop_obstacle.collision_point); + past_stop_obstacles.push_back(stop_obstacle); + } + + ++itr; + } + + concatenate(stop_pc_obstacle_history_, stop_obstacles); + concatenate(stop_obstacles, past_stop_obstacles); + const double calculation_time = stop_watch_.toc(__func__); RCLCPP_INFO_EXPRESSION( rclcpp::get_logger("ObstacleCruisePlanner"), enable_calculation_time_info_, " %s := %f [ms]", @@ -1308,7 +1336,7 @@ ObstacleCruisePlannerNode::createCollisionPointsForInsideCruiseObstacle( // const bool is_prev_obstacle_stop = getObstacleFromUuid(prev_stop_obstacles_, // obstacle.uuid).has_value(); const bool is_prev_obstacle_cruise = - getObstacleFromUuid(prev_cruise_obstacles_, obstacle.uuid).has_value(); + getObstacleFromUuid(prev_cruise_object_obstacles_, obstacle.uuid).has_value(); if (is_prev_obstacle_cruise) { if (obstacle_tangent_vel < p.obstacle_velocity_threshold_from_cruise_to_stop) { @@ -1555,7 +1583,7 @@ std::optional ObstacleCruisePlannerNode::createSlowDownObstacl slow_down_condition_counter_.addCurrentUuid(obstacle.uuid); const bool is_prev_obstacle_slow_down = - getObstacleFromUuid(prev_slow_down_obstacles_, obstacle.uuid).has_value(); + getObstacleFromUuid(prev_slow_down_object_obstacles_, obstacle.uuid).has_value(); if (!enable_slow_down_planning_ || !isSlowDownObstacle(obstacle.classification.label)) { return std::nullopt; @@ -1694,7 +1722,7 @@ void ObstacleCruisePlannerNode::checkConsistency( const rclcpp::Time & current_time, const PredictedObjects & predicted_objects, std::vector & stop_obstacles) { - for (const auto & prev_closest_stop_obstacle : prev_closest_stop_obstacles_) { + for (const auto & prev_closest_stop_obstacle : prev_closest_stop_object_obstacles_) { const auto predicted_object_itr = std::find_if( predicted_objects.objects.begin(), predicted_objects.objects.end(), [&prev_closest_stop_obstacle](const PredictedObject & po) { @@ -1724,7 +1752,8 @@ void ObstacleCruisePlannerNode::checkConsistency( } } - prev_closest_stop_obstacles_ = obstacle_cruise_utils::getClosestStopObstacles(stop_obstacles); + prev_closest_stop_object_obstacles_ = + obstacle_cruise_utils::getClosestStopObstacles(stop_obstacles); } bool ObstacleCruisePlannerNode::isObstacleCrossing( From cb6af80add25a98540a8692ce71ed3c5e8b935e6 Mon Sep 17 00:00:00 2001 From: Dmitrii Koldaev <39071246+dkoldaev@users.noreply.github.com> Date: Thu, 11 Jul 2024 14:13:54 +0900 Subject: [PATCH 149/306] feat(duplicated_node_checker): add duplicate nodes to ignore (#7959) * feat: add duplicate nodes to ignore Signed-off-by: Dmitrii Koldaev * remove talker Signed-off-by: Dmitrii Koldaev * newline Signed-off-by: Dmitrii Koldaev * commments Signed-off-by: Dmitrii Koldaev * pre-commit and sign Signed-off-by: Dmitrii Koldaev * rviz->rviz2 Signed-off-by: Dmitrii Koldaev --------- Signed-off-by: Dmitrii Koldaev Co-authored-by: Dmitrii Koldaev --- .../config/duplicated_node_checker.param.yaml | 2 ++ .../duplicated_node_checker/duplicated_node_checker_core.hpp | 4 ++++ .../src/duplicated_node_checker_core.cpp | 5 +++++ 3 files changed, 11 insertions(+) diff --git a/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml b/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml index 96dce7eb360e4..412c59e66e2c9 100644 --- a/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml +++ b/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml @@ -2,3 +2,5 @@ ros__parameters: update_rate: 10.0 add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg + nodes_to_ignore: # List of nodes to ignore when checking for duplicates + - /rviz2 diff --git a/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp b/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp index 9d806754f3c20..66e125de666b7 100644 --- a/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp +++ b/system/duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp @@ -33,6 +33,9 @@ class DuplicatedNodeChecker : public rclcpp::Node std::unordered_set unique_names; std::vector identical_names; for (auto name : input_name_lists) { + if (nodes_to_ignore_.count(name) != 0) { + continue; + } if (unique_names.find(name) != unique_names.end()) { identical_names.push_back(name); } else { @@ -49,6 +52,7 @@ class DuplicatedNodeChecker : public rclcpp::Node diagnostic_updater::Updater updater_{this}; rclcpp::TimerBase::SharedPtr timer_; bool add_duplicated_node_names_to_msg_; + std::unordered_set nodes_to_ignore_; }; } // namespace duplicated_node_checker diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp index 384c8fdc46c5f..c9bc07cffde72 100644 --- a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp +++ b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp @@ -29,6 +29,11 @@ DuplicatedNodeChecker::DuplicatedNodeChecker(const rclcpp::NodeOptions & node_op { double update_rate = declare_parameter("update_rate"); add_duplicated_node_names_to_msg_ = declare_parameter("add_duplicated_node_names_to_msg"); + + std::vector nodes_to_ignore_vector = + declare_parameter>("nodes_to_ignore"); + nodes_to_ignore_.insert(nodes_to_ignore_vector.begin(), nodes_to_ignore_vector.end()); + updater_.setHardwareID("duplicated_node_checker"); updater_.add("duplicated_node_checker", this, &DuplicatedNodeChecker::produceDiagnostics); From 99a245efddc9ad277f80d9228fdfb7aadb1a9680 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 11 Jul 2024 15:24:06 +0900 Subject: [PATCH 150/306] perf(dynamic_obstacle_stop): construct rtree nodes in place (#7753) Signed-off-by: Maxime CLEMENT --- .../src/footprint.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp index 73189e732b312..8f59160a56f2a 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp @@ -79,7 +79,7 @@ void make_ego_footprint_rtree(EgoData & ego_data, const PlannerParam & params) for (auto i = 0UL; i < ego_data.trajectory_footprints.size(); ++i) { const auto box = boost::geometry::return_envelope( ego_data.trajectory_footprints[i]); - rtree_nodes.push_back(std::make_pair(box, i)); + rtree_nodes.emplace_back(box, i); } ego_data.rtree = Rtree(rtree_nodes); } From 34123c5c38fce4adefe60de07b5bde1433f7f1bc Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 11 Jul 2024 15:46:57 +0900 Subject: [PATCH 151/306] fix(ci): ignore only-hpp-package in cppcheck-differential (#7961) * fix(ci): ignore only-hpp-package in cppcheck-differential Signed-off-by: veqcc * test Signed-off-by: veqcc * test Signed-off-by: veqcc --------- Signed-off-by: veqcc --- .github/workflows/cppcheck-differential.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/cppcheck-differential.yaml b/.github/workflows/cppcheck-differential.yaml index 63f15cb9da319..dc4fed1084bc0 100644 --- a/.github/workflows/cppcheck-differential.yaml +++ b/.github/workflows/cppcheck-differential.yaml @@ -58,7 +58,7 @@ jobs: run: | filtered_paths="" for dir in ${{ steps.get-full-paths.outputs.full-paths }}; do - if [ -d "$dir" ] && find "$dir" -name "*.cpp" -o -name "*.hpp" | grep -q .; then + if [ -d "$dir" ] && find "$dir" -name "*.cpp" | grep -q .; then filtered_paths="$filtered_paths $dir" fi done From ca4579f573f9babdb6ccf24844e59bb2aaf3fa76 Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Thu, 11 Jul 2024 16:13:29 +0900 Subject: [PATCH 152/306] chore(perception_utils): delete maintainer (#7899) Signed-off-by: scepter914 --- common/perception_utils/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/common/perception_utils/package.xml b/common/perception_utils/package.xml index 9d5fbf40a4e89..a6bfbc42090fe 100644 --- a/common/perception_utils/package.xml +++ b/common/perception_utils/package.xml @@ -4,7 +4,6 @@ perception_utils 0.1.0 The perception_utils package - Satoshi Tanaka Shunsuke Miura Yoshi Ri Apache License 2.0 From ec0e7e61bc241ec333ef527feb1a58698ff57d1f Mon Sep 17 00:00:00 2001 From: Koichi98 <45482193+Koichi98@users.noreply.github.com> Date: Thu, 11 Jul 2024 17:06:12 +0900 Subject: [PATCH 153/306] fix(tensorrt_yolox): fix cstyleCast to reinterpret_cast (#7873) * fix(tensorrt_yolox): fix cstyleCast to reinterpret_cast Signed-off-by: Koichi Imai * style(pre-commit): autofix * fix(tensorrt_yolox): fix cstyleCast to reinterpret_cast Signed-off-by: Koichi Imai * style(pre-commit): autofix --------- Signed-off-by: Koichi Imai Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/tensorrt_yolox/src/tensorrt_yolox.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp index bb6975d7a1f21..25f762e2a4ec8 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp @@ -1205,8 +1205,8 @@ cv::Mat TrtYoloX::getMaskImageGpu(float * d_prob, nvinfer1::Dims dims, int out_w cv::Mat mask = cv::Mat::zeros(out_h, out_w, CV_8UC1); int index = b * out_w * out_h; argmax_gpu( - (unsigned char *)argmax_buf_d_.get() + index, d_prob, out_w, out_h, width, height, classes, 1, - *stream_); + reinterpret_cast(argmax_buf_d_.get()) + index, d_prob, out_w, out_h, width, + height, classes, 1, *stream_); CHECK_CUDA_ERROR(cudaMemcpyAsync( argmax_buf_h_.get(), argmax_buf_d_.get(), sizeof(unsigned char) * 1 * out_w * out_h, cudaMemcpyDeviceToHost, *stream_)); From 6f2fc3aac57cda3fa75e146b58683fd775f6c8b0 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 11 Jul 2024 17:14:26 +0900 Subject: [PATCH 154/306] fix(autoware_behavior_path_planner_common): fix shadowVariable (#7965) fix:shadowVariable Signed-off-by: kobayu858 --- .../autoware_behavior_path_planner_common/src/utils/utils.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp index b7955da9a44f1..aa16f1bb23b79 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -1268,8 +1268,8 @@ lanelet::ConstLanelets getCurrentLanesFromPath( const auto & p = planner_data->parameters; std::set lane_ids; - for (const auto & p : path.points) { - for (const auto & id : p.lane_ids) { + for (const auto & point : path.points) { + for (const auto & id : point.lane_ids) { lane_ids.insert(id); } } From 11282b666fe47af2ff84e00762ea5108313299ef Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 11 Jul 2024 17:15:20 +0900 Subject: [PATCH 155/306] fix(autoware_behavior_path_sampling_planner_module): fix shadowVariable (#7966) * fix:shadowVariable Signed-off-by: kobayu858 * refactor:clang format Signed-off-by: kobayu858 * fix:shadowVariable Signed-off-by: kobayu858 * refactor:CodeSence Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/manager.cpp | 2 -- .../src/sampling_planner_module.cpp | 4 ++-- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp index af8a538f894cc..b2b86433002cc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp @@ -81,8 +81,6 @@ void SamplingPlannerModuleManager::updateModuleParams( auto & p = parameters_; - [[maybe_unused]] const std::string ns = name_ + "."; - { std::string ns{"constraints.hard"}; updateParam(parameters, ns + ".max_curvature", p->max_curvature); diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp index 526a761e6957a..3990a2fbf5475 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp @@ -553,8 +553,8 @@ BehaviorModuleOutput SamplingPlannerModule::plan() prepareSamplingParameters(future_state, reference_spline, *internal_params_); auto extension_frenet_paths = autoware::frenet_planner::generatePaths( reference_spline, frenet_reuse_state, extension_sampling_parameters); - for (auto & p : extension_frenet_paths) { - if (!p.points.empty()) frenet_paths.push_back(reused_path.extend(p)); + for (auto & path : extension_frenet_paths) { + if (!path.points.empty()) frenet_paths.push_back(reused_path.extend(path)); } } } else { From 91ba9a5b7d82652a9a7d2d12136c9c9607a31386 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 11 Jul 2024 17:39:49 +0900 Subject: [PATCH 156/306] fix(autoware_behavior_path_lane_change_module): fix shadowVariable (#7964) fix:shadowVariable Signed-off-by: kobayu858 --- .../src/scene.cpp | 32 +++++++++---------- .../src/utils/utils.cpp | 8 ++--- 2 files changed, 20 insertions(+), 20 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index f3e05eca1e92d..8cf67f8cfc66f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -1445,7 +1445,7 @@ bool NormalLaneChange::getLaneChangePaths( RCLCPP_DEBUG(logger_, " - sampling num for lat_acc: %lu", sample_lat_acc.size()); for (const auto & lateral_acc : sample_lat_acc) { - const auto debug_print = [&](const auto & s) { + const auto debug_print_lat = [&](const auto & s) { RCLCPP_DEBUG_STREAM( logger_, " - " << s << " : prep_time = " << prepare_duration << ", lon_acc = " << sampled_longitudinal_acc << ", lat_acc = " << lateral_acc); @@ -1467,7 +1467,7 @@ bool NormalLaneChange::getLaneChangePaths( prepare_segment, current_velocity, terminal_lane_changing_velocity); if (lane_changing_length + prepare_length > dist_to_end_of_current_lanes) { - debug_print("Reject: length of lane changing path is longer than length to goal!!"); + debug_print_lat("Reject: length of lane changing path is longer than length to goal!!"); continue; } @@ -1486,7 +1486,7 @@ bool NormalLaneChange::getLaneChangePaths( s_start + lane_changing_length + finish_judge_buffer + backward_buffer + next_lane_change_buffer > s_goal) { - debug_print("Reject: length of lane changing path is longer than length to goal!!"); + debug_print_lat("Reject: length of lane changing path is longer than length to goal!!"); continue; } } @@ -1496,7 +1496,7 @@ bool NormalLaneChange::getLaneChangePaths( initial_lane_changing_velocity, next_lane_change_buffer); if (target_segment.points.empty()) { - debug_print("Reject: target segment is empty!! something wrong..."); + debug_print_lat("Reject: target segment is empty!! something wrong..."); continue; } @@ -1527,7 +1527,7 @@ bool NormalLaneChange::getLaneChangePaths( lane_change_info.terminal_lane_changing_velocity = terminal_lane_changing_velocity; if (!is_valid_start_point) { - debug_print( + debug_print_lat( "Reject: lane changing points are not inside of the target preferred lanes or its " "neighbors"); continue; @@ -1541,7 +1541,7 @@ bool NormalLaneChange::getLaneChangePaths( next_lane_change_buffer); if (target_lane_reference_path.points.empty()) { - debug_print("Reject: target_lane_reference_path is empty!!"); + debug_print_lat("Reject: target_lane_reference_path is empty!!"); continue; } @@ -1553,12 +1553,12 @@ bool NormalLaneChange::getLaneChangePaths( sorted_lane_ids); if (!candidate_path) { - debug_print("Reject: failed to generate candidate path!!"); + debug_print_lat("Reject: failed to generate candidate path!!"); continue; } if (!hasEnoughLength(*candidate_path, current_lanes, target_lanes, direction)) { - debug_print("Reject: invalid candidate path!!"); + debug_print_lat("Reject: invalid candidate path!!"); continue; } @@ -1566,7 +1566,7 @@ bool NormalLaneChange::getLaneChangePaths( lane_change_parameters_->regulate_on_crosswalk && !hasEnoughLengthToCrosswalk(*candidate_path, current_lanes)) { if (getStopTime() < lane_change_parameters_->stop_time_threshold) { - debug_print("Reject: including crosswalk!!"); + debug_print_lat("Reject: including crosswalk!!"); continue; } RCLCPP_INFO_THROTTLE( @@ -1577,7 +1577,7 @@ bool NormalLaneChange::getLaneChangePaths( lane_change_parameters_->regulate_on_intersection && !hasEnoughLengthToIntersection(*candidate_path, current_lanes)) { if (getStopTime() < lane_change_parameters_->stop_time_threshold) { - debug_print("Reject: including intersection!!"); + debug_print_lat("Reject: including intersection!!"); continue; } RCLCPP_WARN_STREAM( @@ -1587,14 +1587,14 @@ bool NormalLaneChange::getLaneChangePaths( if ( lane_change_parameters_->regulate_on_traffic_light && !hasEnoughLengthToTrafficLight(*candidate_path, current_lanes)) { - debug_print("Reject: regulate on traffic light!!"); + debug_print_lat("Reject: regulate on traffic light!!"); continue; } if (utils::traffic_light::isStoppedAtRedTrafficLightWithinDistance( lane_change_info.current_lanes, candidate_path.value().path, planner_data_, lane_change_info.length.sum())) { - debug_print("Ego is stopping near traffic light. Do not allow lane change"); + debug_print_lat("Ego is stopping near traffic light. Do not allow lane change"); continue; } candidate_paths->push_back(*candidate_path); @@ -1604,14 +1604,14 @@ bool NormalLaneChange::getLaneChangePaths( route_handler, *candidate_path, filtered_objects.target_lane, lane_change_buffer, is_goal_in_route, *lane_change_parameters_, lane_change_debug_.collision_check_objects)) { - debug_print( + debug_print_lat( "Reject: parking vehicle exists in the target lane, and the ego is not in stuck. Skip " "lane change."); return false; } if (!check_safety) { - debug_print("ACCEPT!!!: it is valid (and safety check is skipped)."); + debug_print_lat("ACCEPT!!!: it is valid (and safety check is skipped)."); return false; } @@ -1619,11 +1619,11 @@ bool NormalLaneChange::getLaneChangePaths( *candidate_path, target_objects, rss_params, lane_change_debug_.collision_check_objects); if (is_safe) { - debug_print("ACCEPT!!!: it is valid and safe!"); + debug_print_lat("ACCEPT!!!: it is valid and safe!"); return true; } - debug_print("Reject: sampled path is not safe."); + debug_print_lat("Reject: sampled path is not safe."); } } } diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index ad789975cbcd7..ead047f839f47 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -888,7 +888,7 @@ bool isParkedObject( const auto most_left_lanelet_candidates = route_handler.getLaneletMapPtr()->laneletLayer.findUsages(most_left_road_lanelet.leftBound()); lanelet::ConstLanelet most_left_lanelet = most_left_road_lanelet; - const lanelet::Attribute sub_type = + const lanelet::Attribute most_left_sub_type = most_left_lanelet.attribute(lanelet::AttributeName::Subtype); for (const auto & ll : most_left_lanelet_candidates) { @@ -898,7 +898,7 @@ bool isParkedObject( } } bound = most_left_lanelet.leftBound2d().basicLineString(); - if (sub_type.value() != "road_shoulder") { + if (most_left_sub_type.value() != "road_shoulder") { center_to_bound_buffer = object_check_min_road_shoulder_width; } } else { @@ -909,7 +909,7 @@ bool isParkedObject( most_right_road_lanelet.rightBound()); lanelet::ConstLanelet most_right_lanelet = most_right_road_lanelet; - const lanelet::Attribute sub_type = + const lanelet::Attribute most_right_sub_type = most_right_lanelet.attribute(lanelet::AttributeName::Subtype); for (const auto & ll : most_right_lanelet_candidates) { @@ -919,7 +919,7 @@ bool isParkedObject( } } bound = most_right_lanelet.rightBound2d().basicLineString(); - if (sub_type.value() != "road_shoulder") { + if (most_right_sub_type.value() != "road_shoulder") { center_to_bound_buffer = object_check_min_road_shoulder_width; } } From 5ce1d3af52fe624d4f438275378c1c667eacec52 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 11 Jul 2024 17:53:30 +0900 Subject: [PATCH 157/306] fix(probabilistic_occupancy_grid_map): fix shadowVariable (#7942) * fix:shadowVariable Signed-off-by: kobayu858 * refactor: use range-based for loop Signed-off-by: kobayu858 * style: rename variable Signed-off-by: kobayu858 * style: rename variable Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../lib/costmap_2d/occupancy_grid_map_fixed.cpp | 7 +++---- .../lib/costmap_2d/occupancy_grid_map_projective.cpp | 7 +++---- 2 files changed, 6 insertions(+), 8 deletions(-) diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp index f25009d47bdcc..dffbda18d0c8a 100644 --- a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp @@ -201,11 +201,10 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( } // Third step: Overwrite occupied cell - for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { - auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); + for (auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) { for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - setCellValue(source.wx, source.wy, cost_value::LETHAL_OBSTACLE); + const auto & obstacle_point = obstacle_pointcloud_angle_bin.at(dist_index); + setCellValue(obstacle_point.wx, obstacle_point.wy, cost_value::LETHAL_OBSTACLE); if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { continue; diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp index a2400fb3c81b2..39224bc7e3a69 100644 --- a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp @@ -261,11 +261,10 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( if (pub_debug_grid_) converter.addLayerFromCostmap2D(*this, "added_unknown", debug_grid_); // Third step: Overwrite occupied cell - for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { - auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); + for (auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) { for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { - const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); - setCellValue(source.wx, source.wy, cost_value::LETHAL_OBSTACLE); + const auto & obstacle_point = obstacle_pointcloud_angle_bin.at(dist_index); + setCellValue(obstacle_point.wx, obstacle_point.wy, cost_value::LETHAL_OBSTACLE); if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { continue; From 03152b8e9029a6b1e4a4cf885b374ef11a368a62 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 11 Jul 2024 18:38:06 +0900 Subject: [PATCH 158/306] feat(cruise_planner,planning_evaluator): add cruise and slow down diags (#7960) * add cruise and slow down diags to cruise planner Signed-off-by: Daniel Sanchez * add cruise types Signed-off-by: Daniel Sanchez * adjust planning eval Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../planning_evaluator_node.hpp | 4 +- .../src/planning_evaluator_node.cpp | 16 +- .../common_structs.hpp | 5 + .../planner_interface.hpp | 8 + .../src/node.cpp | 1 + .../optimization_based_planner.cpp | 2 + .../pid_based_planner/pid_based_planner.cpp | 1 + .../src/planner_interface.cpp | 171 ++++++++++-------- 8 files changed, 130 insertions(+), 78 deletions(-) diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index 6925cb15e8fad..e15427c59ce06 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -181,7 +181,9 @@ class PlanningEvaluatorNode : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_; // queue for diagnostics and time stamp std::deque> diag_queue_; - const std::vector target_functions_ = {"obstacle_cruise_planner"}; + const std::vector target_functions_ = { + "obstacle_cruise_planner_stop", "obstacle_cruise_planner_slow_down", + "obstacle_cruise_planner_cruise"}; std::optional prev_acc_stamped_{std::nullopt}; }; } // namespace planning_diagnostics diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index ae3416b9cba8f..e02367407f4ae 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -122,7 +122,21 @@ DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticEvaluationStatus( }); const bool found = it != diag.values.end(); status.level = (found) ? status.OK : status.ERROR; - status.values.push_back((found) ? *it : diagnostic_msgs::msg::KeyValue{}); + + auto get_key_value = [&]() { + if (!found) { + return diagnostic_msgs::msg::KeyValue{}; + } + if (it->value.find("none") != std::string::npos) { + return *it; + } + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "decision"; + key_value.value = "deceleration"; + return key_value; + }; + + status.values.push_back(get_key_value()); return status; } diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp index fc8a0a96ade42..f2a475c494aba 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp @@ -25,6 +25,8 @@ #include +#include + #include #include #include @@ -286,6 +288,9 @@ struct DebugData MarkerArray cruise_wall_marker; MarkerArray slow_down_wall_marker; std::vector detection_polygons; + std::optional stop_reason_diag{std::nullopt}; + std::optional slow_down_reason_diag{std::nullopt}; + std::optional cruise_reason_diag{std::nullopt}; }; struct EgoNearestParam diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp index 0b54542cbea85..099d80306bb4e 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp @@ -95,6 +95,14 @@ class PlannerInterface const std::vector & slow_down_obstacles, std::optional & vel_limit); + DiagnosticStatus makeEmptyDiagnostic(const std::string & reason); + DiagnosticStatus makeDiagnostic( + const std::string & reason, const std::optional & planner_data = std::nullopt, + const std::optional & stop_pose = std::nullopt, + const std::optional & stop_obstacle = std::nullopt); + void publishDiagnostics(const rclcpp::Time & current_time); + void clearDiagnostics(); + void onParam(const std::vector & parameters) { updateCommonParam(parameters); diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index 2734ee8866c6e..210577d92ef93 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -636,6 +636,7 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms // 8. Publish debug data published_time_publisher_->publish_if_subscribed(trajectory_pub_, output_traj.header.stamp); + planner_ptr_->publishDiagnostics(now()); publishDebugMarker(); publishDebugInfo(); diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp index b3a0fc014c410..899cc66cb4331 100644 --- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp @@ -199,6 +199,7 @@ std::vector OptimizationBasedPlanner::generateCruiseTrajectory( output.at(i).longitudinal_velocity_mps = 0.0; } prev_output_ = output; + debug_data_ptr_->cruise_reason_diag = makeDiagnostic("cruise", planner_data); return output; } else if (opt_position.size() == 1) { RCLCPP_DEBUG( @@ -255,6 +256,7 @@ std::vector OptimizationBasedPlanner::generateCruiseTrajectory( // Insert Closest Stop Point autoware::motion_utils::insertStopPoint(0, closest_stop_dist, output); + debug_data_ptr_->cruise_reason_diag = makeDiagnostic("cruise", planner_data); prev_output_ = output; return output; } diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index d0736c6158a7a..a021e87e6199e 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -323,6 +323,7 @@ std::vector PIDBasedPlanner::planCruise( // cruise obstacle debug_data_ptr_->obstacles_to_cruise.push_back(cruise_obstacle_info->obstacle); + debug_data_ptr_->cruise_reason_diag = makeDiagnostic("cruise", planner_data); } // do cruise planning diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index c531c4fefac95..0b9a9eaa9d58c 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -25,6 +25,7 @@ #include #include +#include #include namespace @@ -106,78 +107,6 @@ VelocityFactorArray makeVelocityFactorArray( return velocity_factor_array; } -DiagnosticArray makeEmptyStopReasonDiagnosticArray(const rclcpp::Time & current_time) -{ - // Create status - DiagnosticStatus status; - status.level = status.OK; - status.name = "obstacle_cruise_planner"; - diagnostic_msgs::msg::KeyValue key_value; - { - // Decision - key_value.key = "decision"; - key_value.value = "none"; - status.values.push_back(key_value); - } - // create array - DiagnosticArray diagnostics; - diagnostics.header.stamp = current_time; - diagnostics.header.frame_id = "map"; - diagnostics.status.push_back(status); - return diagnostics; -} - -DiagnosticArray makeStopReasonDiagnosticArray( - const PlannerData & planner_data, const geometry_msgs::msg::Pose & stop_pose, - const StopObstacle & stop_obstacle) -{ - // Create status - DiagnosticStatus status; - status.level = status.OK; - status.name = "obstacle_cruise_planner"; - diagnostic_msgs::msg::KeyValue key_value; - { - // Decision - key_value.key = "decision"; - key_value.value = "stop"; - status.values.push_back(key_value); - } - - { // Stop info - key_value.key = "stop_position"; - const auto & p = stop_pose.position; - key_value.value = - "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; - status.values.push_back(key_value); - key_value.key = "stop_orientation"; - const auto & o = stop_pose.orientation; - key_value.value = "{" + std::to_string(o.w) + ", " + std::to_string(o.x) + ", " + - std::to_string(o.y) + ", " + std::to_string(o.z) + "}"; - status.values.push_back(key_value); - const auto dist_to_stop_pose = autoware::motion_utils::calcSignedArcLength( - planner_data.traj_points, planner_data.ego_pose.position, stop_pose.position); - key_value.key = "distance_to_stop_pose"; - key_value.value = std::to_string(dist_to_stop_pose); - status.values.push_back(key_value); - } - - { - // Obstacle info - const auto & p = stop_obstacle.collision_point; - key_value.key = "collision_point"; - key_value.value = - "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; - status.values.push_back(key_value); - } - - // create array - DiagnosticArray diagnostics; - diagnostics.header.stamp = planner_data.current_time; - diagnostics.header.frame_id = "map"; - diagnostics.status.push_back(status); - return diagnostics; -} - double calcMinimumDistanceToStop( const double initial_vel, const double max_acc, const double min_acc) { @@ -319,7 +248,6 @@ std::vector PlannerInterface::generateStopTrajectory( if (stop_obstacles.empty()) { stop_reasons_pub_->publish(makeEmptyStopReasonArray(planner_data.current_time)); velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time)); - diagnostics_pub_->publish(makeEmptyStopReasonDiagnosticArray(planner_data.current_time)); // delete marker const auto markers = autoware::motion_utils::createDeletedStopVirtualWallMarker(planner_data.current_time, 0); @@ -474,11 +402,11 @@ std::vector PlannerInterface::generateStopTrajectory( const auto stop_pose = output_traj_points.at(*zero_vel_idx).pose; const auto stop_reasons_msg = makeStopReasonArray(planner_data, stop_pose, *determined_stop_obstacle); - const auto stop_reason_diagnostic_array = - makeStopReasonDiagnosticArray(planner_data, stop_pose, *determined_stop_obstacle); stop_reasons_pub_->publish(stop_reasons_msg); velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time, stop_pose)); - diagnostics_pub_->publish(stop_reason_diagnostic_array); + // Store stop reason debug data + debug_data_ptr_->stop_reason_diag = + makeDiagnostic("stop", planner_data, stop_pose, *determined_stop_obstacle); // Publish if ego vehicle will over run against the stop point with a limit acceleration const bool will_over_run = determined_zero_vel_dist.value() > @@ -747,7 +675,11 @@ std::vector PlannerInterface::generateSlowDownTrajectory( markers, &debug_data_ptr_->slow_down_debug_wall_marker); } + // Add debug data debug_data_ptr_->obstacles_to_slow_down.push_back(obstacle); + if (!debug_data_ptr_->slow_down_reason_diag.has_value()) { + debug_data_ptr_->slow_down_reason_diag = makeDiagnostic("slow_down", planner_data); + } // update prev_slow_down_output_ new_prev_slow_down_output.push_back(SlowDownOutput{ @@ -904,3 +836,90 @@ PlannerInterface::calculateDistanceToSlowDownWithConstraints( return std::make_tuple( filtered_dist_to_slow_down_start, filtered_dist_to_slow_down_end, feasible_slow_down_vel); } + +DiagnosticStatus PlannerInterface::makeEmptyDiagnostic(const std::string & reason) +{ + // Create status + DiagnosticStatus status; + status.level = status.OK; + status.name = "obstacle_cruise_planner_" + reason; + diagnostic_msgs::msg::KeyValue key_value; + { + // Decision + key_value.key = "decision"; + key_value.value = "none"; + status.values.push_back(key_value); + } + + return status; +} + +DiagnosticStatus PlannerInterface::makeDiagnostic( + const std::string & reason, const std::optional & planner_data, + const std::optional & stop_pose, + const std::optional & stop_obstacle) +{ + // Create status + DiagnosticStatus status; + status.level = status.OK; + status.name = "obstacle_cruise_planner_" + reason; + diagnostic_msgs::msg::KeyValue key_value; + { + // Decision + key_value.key = "decision"; + key_value.value = reason; + status.values.push_back(key_value); + } + + if (stop_pose.has_value() && planner_data.has_value()) { // Stop info + key_value.key = "stop_position"; + const auto & p = stop_pose.value().position; + key_value.value = + "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; + status.values.push_back(key_value); + key_value.key = "stop_orientation"; + const auto & o = stop_pose.value().orientation; + key_value.value = "{" + std::to_string(o.w) + ", " + std::to_string(o.x) + ", " + + std::to_string(o.y) + ", " + std::to_string(o.z) + "}"; + status.values.push_back(key_value); + const auto dist_to_stop_pose = autoware::motion_utils::calcSignedArcLength( + planner_data.value().traj_points, planner_data.value().ego_pose.position, + stop_pose.value().position); + key_value.key = "distance_to_stop_pose"; + key_value.value = std::to_string(dist_to_stop_pose); + status.values.push_back(key_value); + } + + if (stop_obstacle.has_value()) { + // Obstacle info + const auto & p = stop_obstacle.value().collision_point; + key_value.key = "collision_point"; + key_value.value = + "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; + status.values.push_back(key_value); + } + + return status; +} + +void PlannerInterface::publishDiagnostics(const rclcpp::Time & current_time) +{ + // create array + DiagnosticArray diagnostics; + diagnostics.header.stamp = current_time; + diagnostics.header.frame_id = "map"; + const auto & d = debug_data_ptr_; + diagnostics.status = { + (d->stop_reason_diag) ? d->stop_reason_diag.value() : makeEmptyDiagnostic("stop"), + (d->slow_down_reason_diag) ? *(d->slow_down_reason_diag) : makeEmptyDiagnostic("slow_down"), + (d->cruise_reason_diag) ? d->cruise_reason_diag.value() : makeEmptyDiagnostic("cruise")}; + diagnostics_pub_->publish(diagnostics); + clearDiagnostics(); +} + +void PlannerInterface::clearDiagnostics() +{ + debug_data_ptr_->stop_reason_diag = std::nullopt; + debug_data_ptr_->slow_down_reason_diag = std::nullopt; + debug_data_ptr_->cruise_reason_diag = std::nullopt; +} From 6add86f6a3dd5f7be3c236ff35c3393add15d519 Mon Sep 17 00:00:00 2001 From: Yuntianyi Chen Date: Thu, 11 Jul 2024 21:57:50 +0800 Subject: [PATCH 159/306] refactor(dummy_infrastructure): rework parameters (#5275) Signed-off-by: Yuntianyi Chen --- system/dummy_infrastructure/CMakeLists.txt | 4 +- system/dummy_infrastructure/README.md | 3 +- .../config/dummy_infrastructure.param.yaml | 10 +-- .../launch/dummy_infrastructure.launch.xml | 1 + .../dummy_infrastructure_node.schema.json | 65 +++++++++++++++++++ .../dummy_infrastructure_node.cpp | 12 ++-- 6 files changed, 81 insertions(+), 14 deletions(-) create mode 100644 system/dummy_infrastructure/schema/dummy_infrastructure_node.schema.json diff --git a/system/dummy_infrastructure/CMakeLists.txt b/system/dummy_infrastructure/CMakeLists.txt index cfe326d7bb53b..5d3d39d02365d 100644 --- a/system/dummy_infrastructure/CMakeLists.txt +++ b/system/dummy_infrastructure/CMakeLists.txt @@ -15,6 +15,6 @@ rclcpp_components_register_node(dummy_infrastructure_node_component ament_auto_package( INSTALL_TO_SHARE - config - launch + launch + config ) diff --git a/system/dummy_infrastructure/README.md b/system/dummy_infrastructure/README.md index 2f3196189a1b3..d032bfa1a7e3d 100644 --- a/system/dummy_infrastructure/README.md +++ b/system/dummy_infrastructure/README.md @@ -29,8 +29,9 @@ ros2 run rqt_reconfigure rqt_reconfigure | Name | Type | Default Value | Explanation | | ------------------- | ------ | ------------- | ------------------------------------------------- | -| `update_rate` | int | `10` | Timer callback period [Hz] | +| `update_rate` | double | `10.0` | Timer callback period [Hz] | | `use_first_command` | bool | `true` | Consider instrument id or not | +| `use_command_state` | bool | `false` | Consider command state or not | | `instrument_id` | string | `` | Used as command id | | `approval` | bool | `false` | set approval filed to ros param | | `is_finalized` | bool | `false` | Stop at stop_line if finalization isn't completed | diff --git a/system/dummy_infrastructure/config/dummy_infrastructure.param.yaml b/system/dummy_infrastructure/config/dummy_infrastructure.param.yaml index 50dc36193776b..83976798d30b2 100644 --- a/system/dummy_infrastructure/config/dummy_infrastructure.param.yaml +++ b/system/dummy_infrastructure/config/dummy_infrastructure.param.yaml @@ -1,8 +1,8 @@ /**: ros__parameters: update_rate_hz: 10.0 - use_first_command: false - use_command_state: true - instrument_id: '0' - approval: true - is_finalized: true + use_first_command: true + use_command_state: false + instrument_id: "" + approval: false + is_finalized: false diff --git a/system/dummy_infrastructure/launch/dummy_infrastructure.launch.xml b/system/dummy_infrastructure/launch/dummy_infrastructure.launch.xml index 751575e343fa6..bc45abdebec70 100644 --- a/system/dummy_infrastructure/launch/dummy_infrastructure.launch.xml +++ b/system/dummy_infrastructure/launch/dummy_infrastructure.launch.xml @@ -1,3 +1,4 @@ + diff --git a/system/dummy_infrastructure/schema/dummy_infrastructure_node.schema.json b/system/dummy_infrastructure/schema/dummy_infrastructure_node.schema.json new file mode 100644 index 0000000000000..697ec01d31a64 --- /dev/null +++ b/system/dummy_infrastructure/schema/dummy_infrastructure_node.schema.json @@ -0,0 +1,65 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Dummy Infrastructure Node", + "type": "object", + "definitions": { + "dummy_infrastructure": { + "type": "object", + "properties": { + "update_rate_hz": { + "type": "number", + "default": "10.0", + "description": "Timer callback period [Hz]" + }, + "use_first_command": { + "type": "boolean", + "default": "true", + "description": "Consider instrument id or not" + }, + "use_command_state": { + "type": "boolean", + "default": "false", + "description": "Consider command state or not" + }, + "instrument_id": { + "type": "string", + "default": "", + "description": "Used as command id" + }, + "approval": { + "type": "boolean", + "default": "false", + "description": "set approval filed to ros param" + }, + "is_finalized": { + "type": "boolean", + "default": "false", + "description": "Stop at stop_line if finalization isn't completed" + } + }, + "required": [ + "update_rate_hz", + "use_first_command", + "use_command_state", + "instrument_id", + "approval", + "is_finalized" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/dummy_infrastructure" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/system/dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp b/system/dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp index f24ce4587de0b..485d85c926268 100644 --- a/system/dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp +++ b/system/dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp @@ -89,12 +89,12 @@ DummyInfrastructureNode::DummyInfrastructureNode(const rclcpp::NodeOptions & nod this->add_on_set_parameters_callback(std::bind(&DummyInfrastructureNode::onSetParam, this, _1)); // Parameter - node_param_.update_rate_hz = declare_parameter("update_rate_hz", 10.0); - node_param_.use_first_command = declare_parameter("use_first_command", true); - node_param_.use_command_state = declare_parameter("use_command_state", false); - node_param_.instrument_id = declare_parameter("instrument_id", ""); - node_param_.approval = declare_parameter("approval", false); - node_param_.is_finalized = declare_parameter("is_finalized", false); + node_param_.update_rate_hz = declare_parameter("update_rate_hz"); + node_param_.use_first_command = declare_parameter("use_first_command"); + node_param_.use_command_state = declare_parameter("use_command_state"); + node_param_.instrument_id = declare_parameter("instrument_id"); + node_param_.approval = declare_parameter("approval"); + node_param_.is_finalized = declare_parameter("is_finalized"); // Subscriber sub_command_array_ = create_subscription( From c28ed07e0eb3db91467bb7fad274381e76e2ccdf Mon Sep 17 00:00:00 2001 From: Koichi98 <45482193+Koichi98@users.noreply.github.com> Date: Fri, 12 Jul 2024 10:17:30 +0900 Subject: [PATCH 160/306] chore(cppcheck): delete cstyleCast from .cppcheck_suppressions (#7978) * chore(cppcheck): delete cstyleCast from .cppcheck_suppressions Signed-off-by: Koichi Imai * chore(cppcheck): clean .cppcheck_suppressions Signed-off-by: Koichi Imai --------- Signed-off-by: Koichi Imai --- .cppcheck_suppressions | 2 -- 1 file changed, 2 deletions(-) diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions index 7c921dac7db4c..0b484ad372448 100644 --- a/.cppcheck_suppressions +++ b/.cppcheck_suppressions @@ -3,8 +3,6 @@ checkersReport constParameterReference constVariableReference -// cspell: ignore cstyle -cstyleCast funcArgNamesDifferent functionConst functionStatic From d58f1dc8d8550f2fcc899bbc94c8ee7b43f736d6 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 12 Jul 2024 11:48:02 +0900 Subject: [PATCH 161/306] fix(autoware_behavior_velocity_intersection_module): fix shadowVariable (#7976) Signed-off-by: kobayu858 --- .../src/scene_intersection.cpp | 1 - .../src/scene_intersection_prepare_data.cpp | 8 ++++---- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index ac157fb3ab6dc..9f6935e6d7e7b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -392,7 +392,6 @@ DecisionResult IntersectionModule::modifyPathVelocityDetail( if (!has_traffic_light_) { if (fromEgoDist(occlusion_wo_tl_pass_judge_line_idx) < 0) { if (has_collision) { - const auto closest_idx = intersection_stoplines.closest_idx; const std::string evasive_diag = generateEgoRiskEvasiveDiagnosis( *path, closest_idx, time_distance_array, too_late_detect_objects, misjudge_objects); return OverPassJudge{ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp index a4c4e1b41688f..92a8fc57079df 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp @@ -689,8 +689,8 @@ IntersectionLanelets IntersectionModule::generateObjectiveLanelets( routing_graph_ptr, ll, length, ego_lanelets); for (const auto & ls : lanelet_sequences) { for (const auto & l : ls) { - const auto & inserted = detection_ids.insert(l.id()); - if (inserted.second) detection_and_preceding_lanelets.push_back(l); + const auto & inner_inserted = detection_ids.insert(l.id()); + if (inner_inserted.second) detection_and_preceding_lanelets.push_back(l); } } } @@ -710,8 +710,8 @@ IntersectionLanelets IntersectionModule::generateObjectiveLanelets( routing_graph_ptr, ll, length, ego_lanelets); for (const auto & ls : lanelet_sequences) { for (const auto & l : ls) { - const auto & inserted = detection_ids.insert(l.id()); - if (inserted.second) occlusion_detection_and_preceding_lanelets.push_back(l); + const auto & inner_inserted = detection_ids.insert(l.id()); + if (inner_inserted.second) occlusion_detection_and_preceding_lanelets.push_back(l); } } } From a0af377108c91602f3ee45f0ad466ec7694b3535 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 12 Jul 2024 13:19:53 +0900 Subject: [PATCH 162/306] fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix shadowVariable (#7977) * fix:shadowVariable Signed-off-by: kobayu858 * fix:shadowVariable Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/trajectory_preprocessing.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp index f4b1304d67e5e..f56b50635c96e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp @@ -71,7 +71,7 @@ void calculateSteeringAngles(TrajectoryPoints & trajectory, const double wheel_b auto prev_point = trajectory.front(); auto prev_heading = tf2::getYaw(prev_point.pose.orientation); for (auto i = 1ul; i < trajectory.size(); ++i) { - const auto & prev_point = trajectory[i - 1]; + prev_point = trajectory[i - 1]; auto & point = trajectory[i]; const auto dt = autoware::universe_utils::calcDistance2d(prev_point, point) / prev_point.longitudinal_velocity_mps; From 69a8f6933c2f22a4a10e469e956ace46a0e7b397 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 12 Jul 2024 13:23:35 +0900 Subject: [PATCH 163/306] fix(system_monitor): fix shadowVariable (#7981) fix:shadowVariable Signed-off-by: kobayu858 --- system/system_monitor/src/hdd_monitor/hdd_monitor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp b/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp index 85a88d2430bce..50ac4363da609 100644 --- a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp +++ b/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp @@ -684,8 +684,8 @@ void HddMonitor::updateHddInfoList() // Restore HDD information list try { std::istringstream iss(buf); - boost::archive::text_iarchive oa(iss); - oa >> hdd_info_list_; + boost::archive::text_iarchive ia(iss); + ia >> hdd_info_list_; } catch (const std::exception & e) { connect_diag_.summary(DiagStatus::ERROR, "recv error"); connect_diag_.add("recv", e.what()); From 5f0eaa467c2c6b115f36d23935e3fe053acd2540 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 12 Jul 2024 13:36:08 +0900 Subject: [PATCH 164/306] feat(processing_time_checker): add a new package (#7957) * feat(processing_time_checker): add a new package Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * update README and schema.json Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../launch/simulator.launch.xml | 2 +- .../launch/system.launch.xml | 8 ++ .../CMakeLists.txt | 20 +++ .../README.md | 36 ++++++ .../config/processing_time_checker.param.yaml | 37 ++++++ .../launch/processing_time_checker.launch.xml | 7 + .../package.xml | 26 ++++ .../processing_time_checker.schema.json | 38 ++++++ .../src/processing_time_checker.cpp | 122 ++++++++++++++++++ .../src/processing_time_checker.hpp | 53 ++++++++ 10 files changed, 348 insertions(+), 1 deletion(-) create mode 100644 system/autoware_processing_time_checker/CMakeLists.txt create mode 100644 system/autoware_processing_time_checker/README.md create mode 100644 system/autoware_processing_time_checker/config/processing_time_checker.param.yaml create mode 100644 system/autoware_processing_time_checker/launch/processing_time_checker.launch.xml create mode 100644 system/autoware_processing_time_checker/package.xml create mode 100644 system/autoware_processing_time_checker/schema/processing_time_checker.schema.json create mode 100644 system/autoware_processing_time_checker/src/processing_time_checker.cpp create mode 100644 system/autoware_processing_time_checker/src/processing_time_checker.hpp diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 7dc33e0e82ea9..bf43fde85e0a2 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -148,7 +148,7 @@ - + diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml index 55c4403b65923..d11d00c43d55b 100644 --- a/launch/tier4_system_launch/launch/system.launch.xml +++ b/launch/tier4_system_launch/launch/system.launch.xml @@ -4,6 +4,7 @@ + @@ -64,6 +65,13 @@ + + + + + + + diff --git a/system/autoware_processing_time_checker/CMakeLists.txt b/system/autoware_processing_time_checker/CMakeLists.txt new file mode 100644 index 0000000000000..d9b3acb9abacf --- /dev/null +++ b/system/autoware_processing_time_checker/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_processing_time_checker) + +find_package(autoware_cmake REQUIRED) +autoware_package() +find_package(rclcpp REQUIRED) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/processing_time_checker.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::processing_time_checker::ProcessingTimeChecker" + EXECUTABLE processing_time_checker_node +) + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/system/autoware_processing_time_checker/README.md b/system/autoware_processing_time_checker/README.md new file mode 100644 index 0000000000000..db2dd8d041e61 --- /dev/null +++ b/system/autoware_processing_time_checker/README.md @@ -0,0 +1,36 @@ +# Processing Time Checker + +## Purpose + +This node checks whether the processing time of each module is valid or not, and send a diagnostic. +NOTE: Currently, there is no validation feature, and "OK" is always assigned in the diagnostic. + +### Standalone Startup + +```bash +ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml +``` + +## Inner-workings / Algorithms + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| ------------------------- | --------------------------------- | ------------------------------ | +| `/.../processing_time_ms` | `tier4_debug_msgs/Float64Stamped` | processing time of each module | + +### Output + +| Name | Type | Description | +| ----------------------------------------- | --------------------------------- | ---------------------------------- | +| `/system/processing_time_checker/metrics` | `diagnostic_msgs/DiagnosticArray` | processing time of all the modules | + +## Parameters + +{{ json_to_markdown("system/autoware_processing_time_checker/schema/processing_time_checker.schema.json") }} + +## Assumptions / Known limits + +TBD. diff --git a/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml b/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml new file mode 100644 index 0000000000000..84e7d79079dae --- /dev/null +++ b/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml @@ -0,0 +1,37 @@ +/**: + ros__parameters: + update_rate: 10.0 + processing_time_topic_name_list: + - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms + - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms + - /control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms + - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms + - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms + - /planning/planning_validator/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/total_time/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/dynamic_obstacle_stop/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/obstacle_velocity_limiter/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/out_of_lane/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms + - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms + - /simulation/shape_estimation/debug/processing_time_ms diff --git a/system/autoware_processing_time_checker/launch/processing_time_checker.launch.xml b/system/autoware_processing_time_checker/launch/processing_time_checker.launch.xml new file mode 100644 index 0000000000000..1e9eb6a3d03e1 --- /dev/null +++ b/system/autoware_processing_time_checker/launch/processing_time_checker.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml new file mode 100644 index 0000000000000..52f6fe6c2c27d --- /dev/null +++ b/system/autoware_processing_time_checker/package.xml @@ -0,0 +1,26 @@ + + + + autoware_processing_time_checker + 1.0.0 + A package to find out nodes with common names + Takayuki Murooka + Kosuke Takeuchi + + Apache 2.0 + + ament_cmake + autoware_cmake + + diagnostic_updater + rclcpp + rclcpp_components + tier4_debug_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/system/autoware_processing_time_checker/schema/processing_time_checker.schema.json b/system/autoware_processing_time_checker/schema/processing_time_checker.schema.json new file mode 100644 index 0000000000000..152cedb60f8ab --- /dev/null +++ b/system/autoware_processing_time_checker/schema/processing_time_checker.schema.json @@ -0,0 +1,38 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Processing Time Checker", + "type": "object", + "definitions": { + "autoware_processing_time_checker": { + "type": "object", + "properties": { + "update_rate": { + "type": "number", + "default": 10, + "exclusiveMinimum": 2, + "description": "The scanning and update frequency of the checker." + }, + "processing_time_topic_name_list": { + "type": "array", + "items": { + "type": "string" + }, + "description": "The topic name list of the processing time." + } + }, + "required": ["update_rate", "processing_time_topic_name_list"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/autoware_processing_time_checker" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.cpp b/system/autoware_processing_time_checker/src/processing_time_checker.cpp new file mode 100644 index 0000000000000..fec7a16134915 --- /dev/null +++ b/system/autoware_processing_time_checker/src/processing_time_checker.cpp @@ -0,0 +1,122 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "processing_time_checker.hpp" + +#include + +#include +#include +#include + +namespace autoware::processing_time_checker +{ + +namespace +{ +std::string remove_last_name(const std::string & str) +{ + return str.substr(0, str.find_last_of("/")); +} + +std::string get_last_name(const std::string & str) +{ + return str.substr(str.find_last_of("/") + 1); +} +} // namespace + +ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_options) +: Node("processing_time_checker", node_options) +{ + const double update_rate = declare_parameter("update_rate"); + const auto processing_time_topic_name_list = + declare_parameter>("processing_time_topic_name_list"); + + for (const auto & processing_time_topic_name : processing_time_topic_name_list) { + std::optional module_name{std::nullopt}; + + // extract module name from topic name + auto tmp_topic_name = processing_time_topic_name; + for (size_t i = 0; i < 4; ++i) { // 4 is enouh for the search depth + tmp_topic_name = remove_last_name(tmp_topic_name); + const auto module_name_candidate = get_last_name(tmp_topic_name); + // clang-format off + if ( + module_name_candidate != "processing_time_ms" && module_name_candidate != "debug" && + module_name_candidate != "total_time") + { + module_name = module_name_candidate; + break; + } + // clang-format on + } + + // register module name + if (module_name) { + module_name_map_.insert_or_assign(processing_time_topic_name, *module_name); + } else { + throw std::invalid_argument("The format of the processing time topic name is not correct."); + } + } + + // create subscribers + for (const auto & processing_time_topic_name : processing_time_topic_name_list) { + const auto & module_name = module_name_map_.at(processing_time_topic_name); + + // clang-format off + processing_time_subscribers_.push_back( + create_subscription( + processing_time_topic_name, 1, + [this, &module_name]([[maybe_unused]] const Float64Stamped & msg) { + processing_time_map_.insert_or_assign(module_name, msg.data); + })); + // clang-format on + } + + diag_pub_ = create_publisher("~/metrics", 1); + + const auto period_ns = rclcpp::Rate(update_rate).period(); + timer_ = rclcpp::create_timer( + this, get_clock(), period_ns, std::bind(&ProcessingTimeChecker::on_timer, this)); +} + +void ProcessingTimeChecker::on_timer() +{ + // create diagnostic status + DiagnosticStatus status; + status.level = status.OK; + status.name = "processing_time"; + for (const auto & processing_time_iterator : processing_time_map_) { + const auto processing_time_topic_name = processing_time_iterator.first; + const double processing_time = processing_time_iterator.second; + + // generate diagnostic status + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = processing_time_topic_name; + key_value.value = std::to_string(processing_time); + status.values.push_back(key_value); + } + + // create diagnostic array + DiagnosticArray diag_msg; + diag_msg.header.stamp = now(); + diag_msg.status.push_back(status); + + // publish + diag_pub_->publish(diag_msg); +} +} // namespace autoware::processing_time_checker + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::processing_time_checker::ProcessingTimeChecker) diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.hpp b/system/autoware_processing_time_checker/src/processing_time_checker.hpp new file mode 100644 index 0000000000000..eba6f2c0642e6 --- /dev/null +++ b/system/autoware_processing_time_checker/src/processing_time_checker.hpp @@ -0,0 +1,53 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef PROCESSING_TIME_CHECKER_HPP_ +#define PROCESSING_TIME_CHECKER_HPP_ + +#include + +#include "diagnostic_msgs/msg/diagnostic_array.hpp" +#include "tier4_debug_msgs/msg/float64_stamped.hpp" + +#include +#include +#include + +namespace autoware::processing_time_checker +{ +using diagnostic_msgs::msg::DiagnosticArray; +using diagnostic_msgs::msg::DiagnosticStatus; +using tier4_debug_msgs::msg::Float64Stamped; + +class ProcessingTimeChecker : public rclcpp::Node +{ +public: + explicit ProcessingTimeChecker(const rclcpp::NodeOptions & node_options); + +private: + void on_timer(); + + rclcpp::TimerBase::SharedPtr timer_; + + rclcpp::Publisher::SharedPtr diag_pub_; + std::vector::SharedPtr> processing_time_subscribers_; + + // topic name - module name + std::unordered_map module_name_map_{}; + // module name - processing time + std::unordered_map processing_time_map_{}; +}; +} // namespace autoware::processing_time_checker + +#endif // PROCESSING_TIME_CHECKER_HPP_ From 9bf6643fa1e23381fe8fb63d4126ff7a69ca4e04 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Fri, 12 Jul 2024 14:01:33 +0900 Subject: [PATCH 165/306] docs(localization_error_monitor): fix input description of localization_error_monitor (#7993) Fixed input of localization_error_monitor Signed-off-by: Shintaro Sakoda --- localization/localization_error_monitor/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/localization/localization_error_monitor/README.md b/localization/localization_error_monitor/README.md index 7912ad843ef19..8dc82f09f3d07 100644 --- a/localization/localization_error_monitor/README.md +++ b/localization/localization_error_monitor/README.md @@ -16,9 +16,9 @@ The package monitors the following two values: ### Input -| Name | Type | Description | -| --------------------- | ----------------------------------------------- | ------------------- | -| `input/pose_with_cov` | `geometry_msgs::msg::PoseWithCovarianceStamped` | localization result | +| Name | Type | Description | +| ------------ | ------------------------- | ------------------- | +| `input/odom` | `nav_msgs::msg::Odometry` | localization result | ### Output From dcc375042b73aef430e2c1e4c9b3f64b1bc81176 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 12 Jul 2024 16:15:12 +0900 Subject: [PATCH 166/306] fix(system_error_monitor): fix shadowVariable (#7979) * fix:shadowVariable Signed-off-by: kobayu858 * fix:shadowVariable Signed-off-by: kobayu858 * fix:syntax error Signed-off-by: kobayu858 * refactor:clang format Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../system_error_monitor/src/system_error_monitor_core.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index 1daa4624ec934..ef892bd01ff50 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -270,13 +270,12 @@ AutowareErrorMonitor::AutowareErrorMonitor(const rclcpp::NodeOptions & options) void AutowareErrorMonitor::loadRequiredModules(const std::string & key) { - const auto param_key = std::string("required_modules.") + key; - const uint64_t depth = 3; - const auto param_names = this->list_parameters({param_key}, depth).names; + const auto param_names = + this->list_parameters({std::string("required_modules.") + key}, depth).names; if (param_names.empty()) { - throw std::runtime_error(fmt::format("no parameter found: {}", param_key)); + throw std::runtime_error(fmt::format("no parameter found: required_modules.{}", key)); } // Load module names from parameter key From 7eb2e2dbefd25afd8d5dd678f97197f972ab8ec2 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 12 Jul 2024 16:26:25 +0900 Subject: [PATCH 167/306] chore(autoware_universe_utils): update document (#7907) * update readme Signed-off-by: Y.Hisaki * refactoring Signed-off-by: Y.Hisaki * remove string reporter Signed-off-by: Y.Hisaki * fix readme.md Signed-off-by: Y.Hisaki * change node name of example Signed-off-by: Y.Hisaki * update readme Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- common/autoware_universe_utils/README.md | 223 ++++++------------ .../examples/example_scoped_time_track.cpp | 61 ----- .../examples/example_time_keeper.cpp | 78 +++--- .../universe_utils/system/time_keeper.hpp | 16 +- .../src/system/time_keeper.cpp | 14 +- 5 files changed, 127 insertions(+), 265 deletions(-) delete mode 100644 common/autoware_universe_utils/examples/example_scoped_time_track.cpp diff --git a/common/autoware_universe_utils/README.md b/common/autoware_universe_utils/README.md index 2d24f84423299..cd5e366c520fc 100644 --- a/common/autoware_universe_utils/README.md +++ b/common/autoware_universe_utils/README.md @@ -49,56 +49,80 @@ explicit TimeKeeper(Reporters... reporters); - Ends tracking the processing time of a function. - `func_name`: Name of the function to end tracking. +##### Note + +- It's possible to start and end time measurements using `start_track` and `end_track` as shown below: + + ```cpp + time_keeper.start_track("example_function"); + // Your function code here + time_keeper.end_track("example_function"); + ``` + +- For safety and to ensure proper tracking, it is recommended to use `ScopedTimeTrack`. + ##### Example ```cpp -#include "autoware/universe_utils/system/time_keeper.hpp" - #include +#include + +#include #include #include +#include + +class ExampleNode : public rclcpp::Node +{ +public: + ExampleNode() : Node("time_keeper_example") + { + publisher_ = + create_publisher("processing_time", 1); + + time_keeper_ = std::make_shared(publisher_, &std::cerr); + // You can also add a reporter later by add_reporter. + // time_keeper_->add_reporter(publisher_); + // time_keeper_->add_reporter(&std::cerr); + + timer_ = create_wall_timer(std::chrono::seconds(1), std::bind(&ExampleNode::func_a, this)); + } + +private: + std::shared_ptr time_keeper_; + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Publisher::SharedPtr publisher_str_; + rclcpp::TimerBase::SharedPtr timer_; + + void func_a() + { + // Start constructing ProcessingTimeTree (because func_a is the root function) + autoware::universe_utils::ScopedTimeTrack st("func_a", *time_keeper_); + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + func_b(); + // End constructing ProcessingTimeTree. After this, the tree will be reported (publishing + // message and outputting to std::cerr) + } + + void func_b() + { + autoware::universe_utils::ScopedTimeTrack st("func_b", *time_keeper_); + std::this_thread::sleep_for(std::chrono::milliseconds(2)); + func_c(); + } + + void func_c() + { + autoware::universe_utils::ScopedTimeTrack st("func_c", *time_keeper_); + std::this_thread::sleep_for(std::chrono::milliseconds(3)); + } +}; int main(int argc, char ** argv) { rclcpp::init(argc, argv); - auto node = std::make_shared("time_keeper_example"); - - auto time_keeper = std::make_shared(); - - time_keeper->add_reporter(&std::cout); - - auto publisher = - node->create_publisher("processing_time", 10); - - time_keeper->add_reporter(publisher); - - auto publisher_str = node->create_publisher("processing_time_str", 10); - - time_keeper->add_reporter(publisher_str); - - auto funcA = [&time_keeper]() { - time_keeper->start_track("funcA"); - std::this_thread::sleep_for(std::chrono::seconds(1)); - time_keeper->end_track("funcA"); - }; - - auto funcB = [&time_keeper, &funcA]() { - time_keeper->start_track("funcB"); - std::this_thread::sleep_for(std::chrono::seconds(2)); - funcA(); - time_keeper->end_track("funcB"); - }; - - auto funcC = [&time_keeper, &funcB]() { - time_keeper->start_track("funcC"); - std::this_thread::sleep_for(std::chrono::seconds(3)); - funcB(); - time_keeper->end_track("funcC"); - }; - - funcC(); - + auto node = std::make_shared(); rclcpp::spin(node); rclcpp::shutdown(); return 0; @@ -109,38 +133,28 @@ int main(int argc, char ** argv) ```text ========================== - funcC (6000.7ms) - └── funcB (3000.44ms) - └── funcA (1000.19ms) + func_a (6.382ms) + └── func_b (5.243ms) + └── func_c (3.146ms) ``` - Output (`ros2 topic echo /processing_time`) ```text + --- nodes: - id: 1 - name: funcC - processing_time: 6000.659 + name: func_a + processing_time: 6.397 parent_id: 0 - id: 2 - name: funcB - processing_time: 3000.415 + name: func_b + processing_time: 5.263 parent_id: 1 - id: 3 - name: funcA - processing_time: 1000.181 + name: func_c + processing_time: 3.129 parent_id: 2 - --- - ``` - -- Output (`ros2 topic echo /processing_time_str --field data`) - - ```text - funcC (6000.67ms) - └── funcB (3000.42ms) - └── funcA (1000.19ms) - - --- ``` #### `autoware::universe_utils::ScopedTimeTrack` @@ -165,94 +179,3 @@ ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper); ``` - Destroys the `ScopedTimeTrack` object, ending the tracking of the function. - -##### Example - -```cpp -#include "autoware/universe_utils/system/time_keeper.hpp" - -#include - -#include -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared("scoped_time_track_example"); - - auto time_keeper = std::make_shared(); - - time_keeper->add_reporter(&std::cout); - - auto publisher = - node->create_publisher("processing_time", 10); - - time_keeper->add_reporter(publisher); - - auto publisher_str = node->create_publisher("processing_time_str", 10); - - time_keeper->add_reporter(publisher_str); - - auto funcA = [&time_keeper]() { - autoware::universe_utils::ScopedTimeTrack st("funcA", *time_keeper); - std::this_thread::sleep_for(std::chrono::seconds(1)); - }; - - auto funcB = [&time_keeper, &funcA]() { - autoware::universe_utils::ScopedTimeTrack st("funcB", *time_keeper); - std::this_thread::sleep_for(std::chrono::seconds(2)); - funcA(); - }; - - auto funcC = [&time_keeper, &funcB]() { - autoware::universe_utils::ScopedTimeTrack st("funcC", *time_keeper); - std::this_thread::sleep_for(std::chrono::seconds(3)); - funcB(); - }; - - funcC(); - - rclcpp::spin(node); - rclcpp::shutdown(); - return 0; -} -``` - -- Output (console) - - ```text - ========================== - funcC (6000.7ms) - └── funcB (3000.44ms) - └── funcA (1000.19ms) - ``` - -- Output (`ros2 topic echo /processing_time`) - - ```text - nodes: - - id: 1 - name: funcC - processing_time: 6000.659 - parent_id: 0 - - id: 2 - name: funcB - processing_time: 3000.415 - parent_id: 1 - - id: 3 - name: funcA - processing_time: 1000.181 - parent_id: 2 - --- - ``` - -- Output (`ros2 topic echo /processing_time_str --field data`) - - ```text - funcC (6000.67ms) - └── funcB (3000.42ms) - └── funcA (1000.19ms) - - --- - ``` diff --git a/common/autoware_universe_utils/examples/example_scoped_time_track.cpp b/common/autoware_universe_utils/examples/example_scoped_time_track.cpp deleted file mode 100644 index 010cc58aba8ae..0000000000000 --- a/common/autoware_universe_utils/examples/example_scoped_time_track.cpp +++ /dev/null @@ -1,61 +0,0 @@ -// Copyright 2024 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include "autoware/universe_utils/system/time_keeper.hpp" - -#include - -#include -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared("scoped_time_track_example"); - - auto time_keeper = std::make_shared(); - - time_keeper->add_reporter(&std::cout); - - auto publisher = - node->create_publisher("processing_time", 10); - - time_keeper->add_reporter(publisher); - - auto publisher_str = node->create_publisher("processing_time_str", 10); - - time_keeper->add_reporter(publisher_str); - - auto funcA = [&time_keeper]() { - autoware::universe_utils::ScopedTimeTrack st("funcA", *time_keeper); - std::this_thread::sleep_for(std::chrono::seconds(1)); - }; - - auto funcB = [&time_keeper, &funcA]() { - autoware::universe_utils::ScopedTimeTrack st("funcB", *time_keeper); - std::this_thread::sleep_for(std::chrono::seconds(2)); - funcA(); - }; - - auto funcC = [&time_keeper, &funcB]() { - autoware::universe_utils::ScopedTimeTrack st("funcC", *time_keeper); - std::this_thread::sleep_for(std::chrono::seconds(3)); - funcB(); - }; - - funcC(); - - rclcpp::spin(node); - rclcpp::shutdown(); - return 0; -} diff --git a/common/autoware_universe_utils/examples/example_time_keeper.cpp b/common/autoware_universe_utils/examples/example_time_keeper.cpp index 3f6037e68daac..c50aa1e1a8342 100644 --- a/common/autoware_universe_utils/examples/example_time_keeper.cpp +++ b/common/autoware_universe_utils/examples/example_time_keeper.cpp @@ -15,49 +15,63 @@ #include +#include + +#include #include #include +#include -int main(int argc, char ** argv) +class ExampleNode : public rclcpp::Node { - rclcpp::init(argc, argv); - auto node = std::make_shared("time_keeper_example"); - - auto time_keeper = std::make_shared(); - - time_keeper->add_reporter(&std::cout); +public: + ExampleNode() : Node("time_keeper_example") + { + publisher_ = + create_publisher("processing_time", 1); - auto publisher = - node->create_publisher("processing_time", 10); + time_keeper_ = std::make_shared(publisher_, &std::cerr); + // You can also add a reporter later by add_reporter. + // time_keeper_->add_reporter(publisher_); + // time_keeper_->add_reporter(&std::cerr); - time_keeper->add_reporter(publisher); + timer_ = create_wall_timer(std::chrono::seconds(1), std::bind(&ExampleNode::func_a, this)); + } - auto publisher_str = node->create_publisher("processing_time_str", 10); +private: + std::shared_ptr time_keeper_; + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Publisher::SharedPtr publisher_str_; + rclcpp::TimerBase::SharedPtr timer_; - time_keeper->add_reporter(publisher_str); + void func_a() + { + // Start constructing ProcessingTimeTree (because func_a is the root function) + autoware::universe_utils::ScopedTimeTrack st("func_a", *time_keeper_); + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + func_b(); + // End constructing ProcessingTimeTree. After this, the tree will be reported (publishing + // message and outputting to std::cerr) + } - auto funcA = [&time_keeper]() { - time_keeper->start_track("funcA"); - std::this_thread::sleep_for(std::chrono::seconds(1)); - time_keeper->end_track("funcA"); - }; + void func_b() + { + autoware::universe_utils::ScopedTimeTrack st("func_b", *time_keeper_); + std::this_thread::sleep_for(std::chrono::milliseconds(2)); + func_c(); + } - auto funcB = [&time_keeper, &funcA]() { - time_keeper->start_track("funcB"); - std::this_thread::sleep_for(std::chrono::seconds(2)); - funcA(); - time_keeper->end_track("funcB"); - }; - - auto funcC = [&time_keeper, &funcB]() { - time_keeper->start_track("funcC"); - std::this_thread::sleep_for(std::chrono::seconds(3)); - funcB(); - time_keeper->end_track("funcC"); - }; - - funcC(); + void func_c() + { + autoware::universe_utils::ScopedTimeTrack st("func_c", *time_keeper_); + std::this_thread::sleep_for(std::chrono::milliseconds(3)); + } +}; +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared(); rclcpp::spin(node); rclcpp::shutdown(); return 0; diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp index 96070f0f30b77..c635138416aa5 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp @@ -17,14 +17,11 @@ #include "autoware/universe_utils/system/stop_watch.hpp" #include -#include #include #include #include -#include - #include #include #include @@ -134,14 +131,6 @@ class TimeKeeper */ void add_reporter(rclcpp::Publisher::SharedPtr publisher); - /** - * @brief Add a reporter to publish processing times to an rclcpp publisher with - * std_msgs::msg::String - * - * @param publisher Shared pointer to the rclcpp publisher - */ - void add_reporter(rclcpp::Publisher::SharedPtr publisher); - /** * @brief Start tracking the processing time of a function * @@ -187,6 +176,11 @@ class ScopedTimeTrack */ ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper); + ScopedTimeTrack(const ScopedTimeTrack &) = delete; + ScopedTimeTrack & operator=(const ScopedTimeTrack &) = delete; + ScopedTimeTrack(ScopedTimeTrack &&) = delete; + ScopedTimeTrack & operator=(ScopedTimeTrack &&) = delete; + /** * @brief Destroy the ScopedTimeTrack object, ending the tracking of the function */ diff --git a/common/autoware_universe_utils/src/system/time_keeper.cpp b/common/autoware_universe_utils/src/system/time_keeper.cpp index 58bed6677227c..429f063dfc62e 100644 --- a/common/autoware_universe_utils/src/system/time_keeper.cpp +++ b/common/autoware_universe_utils/src/system/time_keeper.cpp @@ -14,7 +14,8 @@ #include "autoware/universe_utils/system/time_keeper.hpp" -#include +#include + #include namespace autoware::universe_utils @@ -67,7 +68,7 @@ tier4_debug_msgs::msg::ProcessingTimeTree ProcessingTimeNode::to_msg() const tier4_debug_msgs::msg::ProcessingTimeNode time_node_msg; time_node_msg.name = node.name_; time_node_msg.processing_time = node.processing_time_; - time_node_msg.id = tree_msg.nodes.size() + 1; + time_node_msg.id = static_cast(tree_msg.nodes.size() + 1); time_node_msg.parent_id = parent_id; tree_msg.nodes.emplace_back(time_node_msg); @@ -112,15 +113,6 @@ void TimeKeeper::add_reporter(rclcpp::Publisher::SharedPtr }); } -void TimeKeeper::add_reporter(rclcpp::Publisher::SharedPtr publisher) -{ - reporters_.emplace_back([publisher](const std::shared_ptr & node) { - std_msgs::msg::String msg; - msg.data = node->to_string(); - publisher->publish(msg); - }); -} - void TimeKeeper::start_track(const std::string & func_name) { if (current_time_node_ == nullptr) { From 0dba04c97122c8056dcf72f219512f440cd7e9da Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Fri, 12 Jul 2024 12:14:50 +0300 Subject: [PATCH 168/306] ci(build-and-test-differential): limit ccache size for cuda builds (#7980) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/workflows/build-and-test-differential.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index a95a070d19bd4..287769d0708ac 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -70,6 +70,14 @@ jobs: restore-keys: | ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}- + # Limit ccache size only for CUDA builds to avoid running out of disk space + - name: Limit ccache size + if: ${{ matrix.container-suffix == '-cuda' }} + run: | + rm -f "${CCACHE_DIR}/ccache.conf" + echo -e "# Set maximum cache size\nmax_size = 1MB" >> "${CCACHE_DIR}/ccache.conf" + shell: bash + - name: Show ccache stats before build run: du -sh ${CCACHE_DIR} && ccache -s shell: bash From 4738b7fce2468b045494b00e085257d398a6f673 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 12 Jul 2024 18:46:52 +0900 Subject: [PATCH 169/306] fix(autoware_stop_filter): fix funcArgNamesDifferent (#8008) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- localization/autoware_stop_filter/src/stop_filter.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization/autoware_stop_filter/src/stop_filter.hpp b/localization/autoware_stop_filter/src/stop_filter.hpp index ce6e67f0b7265..b6d56b5f77059 100644 --- a/localization/autoware_stop_filter/src/stop_filter.hpp +++ b/localization/autoware_stop_filter/src/stop_filter.hpp @@ -39,7 +39,7 @@ namespace autoware::stop_filter class StopFilter : public rclcpp::Node { public: - explicit StopFilter(const rclcpp::NodeOptions & options); + explicit StopFilter(const rclcpp::NodeOptions & node_options); private: rclcpp::Publisher::SharedPtr pub_odom_; //!< @brief odom publisher From af96de212b25fd23148a16c1b5d5f147bb0d2fa7 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 12 Jul 2024 19:16:12 +0900 Subject: [PATCH 170/306] fix(detection_by_tracker): fix funcArgNamesDifferent (#8010) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../detection_by_tracker/src/detection_by_tracker_node.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/detection_by_tracker/src/detection_by_tracker_node.hpp b/perception/detection_by_tracker/src/detection_by_tracker_node.hpp index 9c974d72cfdca..f0ed51dd1938e 100644 --- a/perception/detection_by_tracker/src/detection_by_tracker_node.hpp +++ b/perception/detection_by_tracker/src/detection_by_tracker_node.hpp @@ -85,7 +85,7 @@ class DetectionByTracker : public rclcpp::Node void divideUnderSegmentedObjects( const autoware_perception_msgs::msg::DetectedObjects & tracked_objects, - const tier4_perception_msgs::msg::DetectedObjectsWithFeature & in_objects, + const tier4_perception_msgs::msg::DetectedObjectsWithFeature & in_cluster_objects, autoware_perception_msgs::msg::DetectedObjects & out_no_found_tracked_objects, tier4_perception_msgs::msg::DetectedObjectsWithFeature & out_objects); @@ -96,7 +96,7 @@ class DetectionByTracker : public rclcpp::Node void mergeOverSegmentedObjects( const autoware_perception_msgs::msg::DetectedObjects & tracked_objects, - const tier4_perception_msgs::msg::DetectedObjectsWithFeature & in_objects, + const tier4_perception_msgs::msg::DetectedObjectsWithFeature & in_cluster_objects, autoware_perception_msgs::msg::DetectedObjects & out_no_found_tracked_objects, tier4_perception_msgs::msg::DetectedObjectsWithFeature & out_objects); }; From f2f7aabd5558d39ea5bd617b91e79c315c96734b Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 12 Jul 2024 20:06:30 +0900 Subject: [PATCH 171/306] feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (#8004) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp Signed-off-by: Y.Hisaki * update Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- .../interface.hpp | 2 ++ .../utils/base_class.hpp | 11 ++++++++++- .../src/interface.cpp | 6 ++++++ .../src/scene.cpp | 17 +++++++++++++++++ .../behavior_path_planner/planner_manager.hpp | 2 ++ .../interface/scene_module_interface.hpp | 8 +++++++- .../scene_module_manager_interface.hpp | 5 +++++ 7 files changed, 49 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp index 9c014b77a7e82..bd309dd35a260 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp @@ -23,6 +23,7 @@ #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp" #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" +#include #include #include @@ -108,6 +109,7 @@ class LaneChangeInterface : public SceneModuleInterface const double start_distance, const double finish_distance, const bool safe, const uint8_t & state) { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { if (ptr) { ptr->updateCooperateStatus( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index 9df19c4de6834..cbd3a81827948 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -23,6 +23,7 @@ #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" +#include #include #include @@ -53,7 +54,8 @@ class LaneChangeBase : lane_change_parameters_{std::move(parameters)}, common_data_ptr_{std::make_shared()}, direction_{direction}, - type_{type} + type_{type}, + time_keeper_(std::make_shared()) { } @@ -167,6 +169,11 @@ class LaneChangeBase common_data_ptr_->direction = direction_; } + void setTimeKeeper(const std::shared_ptr & time_keeper) + { + time_keeper_ = time_keeper; + } + void toNormalState() { current_lane_change_state_ = LaneChangeStates::Normal; } void toStopState() { current_lane_change_state_ = LaneChangeStates::Stop; } @@ -252,6 +259,8 @@ class LaneChangeBase rclcpp::Logger logger_ = utils::lane_change::getLogger(getModuleTypeStr()); mutable rclcpp::Clock clock_{RCL_ROS_TIME}; + + mutable std::shared_ptr time_keeper_; }; } // namespace autoware::behavior_path_planner #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 0a5b31f9e32d2..b55b41828081e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -21,6 +21,7 @@ #include "autoware/behavior_path_planner_common/marker_utils/utils.hpp" #include +#include #include #include @@ -43,6 +44,7 @@ LaneChangeInterface::LaneChangeInterface( module_type_{std::move(module_type)}, prev_approved_path_{std::make_unique()} { + module_type_->setTimeKeeper(getTimeKeeper()); steering_factor_interface_ptr_ = std::make_unique(&node, name); logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr()); } @@ -71,6 +73,7 @@ bool LaneChangeInterface::isExecutionReady() const void LaneChangeInterface::updateData() { + universe_utils::ScopedTimeTrack st(__func__, *getTimeKeeper()); module_type_->setPreviousModuleOutput(getPreviousModuleOutput()); module_type_->updateSpecialData(); @@ -94,6 +97,7 @@ void LaneChangeInterface::postProcess() BehaviorModuleOutput LaneChangeInterface::plan() { + universe_utils::ScopedTimeTrack st(__func__, *getTimeKeeper()); resetPathCandidate(); resetPathReference(); @@ -165,6 +169,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() CandidateOutput LaneChangeInterface::planCandidate() const { + universe_utils::ScopedTimeTrack st(__func__, *getTimeKeeper()); const auto selected_path = module_type_->getLaneChangePath(); if (selected_path.path.points.empty()) { @@ -340,6 +345,7 @@ MarkerArray LaneChangeInterface::getModuleVirtualWall() void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & output) { + universe_utils::ScopedTimeTrack st(__func__, *getTimeKeeper()); const auto steering_factor_direction = std::invoke([&]() { if (module_type_->getDirection() == Direction::LEFT) { return SteeringFactor::LEFT; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 8cf67f8cfc66f..8636ff7d9dae7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -23,6 +23,7 @@ #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include +#include #include #include @@ -55,6 +56,7 @@ NormalLaneChange::NormalLaneChange( void NormalLaneChange::updateLaneChangeStatus() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); updateStopTime(); const auto [found_valid_path, found_safe_path] = getSafePath(status_.lane_change_path); @@ -263,6 +265,7 @@ BehaviorModuleOutput NormalLaneChange::getTerminalLaneChangePath() const BehaviorModuleOutput NormalLaneChange::generateOutput() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (!status_.is_valid_path) { RCLCPP_DEBUG(logger_, "No valid path found. Returning previous module's path as output."); return prev_module_output_; @@ -308,6 +311,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & dp = planner_data_->drivable_area_expansion_parameters; const auto drivable_lanes = utils::lane_change::generateDrivableLanes( @@ -327,6 +331,7 @@ void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) c void NormalLaneChange::insertStopPoint( const lanelet::ConstLanelets & lanelets, PathWithLaneId & path) { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (lanelets.empty()) { return; } @@ -468,6 +473,7 @@ void NormalLaneChange::insertStopPoint( PathWithLaneId NormalLaneChange::getReferencePath() const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); lanelet::ConstLanelet closest_lanelet; if (!lanelet::utils::query::getClosestLanelet( status_.lane_change_path.info.target_lanes, getEgoPose(), &closest_lanelet)) { @@ -482,6 +488,7 @@ PathWithLaneId NormalLaneChange::getReferencePath() const std::optional NormalLaneChange::extendPath() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto path = status_.lane_change_path.path; const auto lc_start_point = status_.lane_change_path.info.lane_changing_start.position; @@ -560,6 +567,7 @@ void NormalLaneChange::resetParameters() TurnSignalInfo NormalLaneChange::updateOutputTurnSignal() const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & pose = getEgoPose(); const auto & current_lanes = status_.current_lanes; const auto & shift_line = status_.lane_change_path.info.shift_line; @@ -584,6 +592,7 @@ lanelet::ConstLanelets NormalLaneChange::getCurrentLanes() const lanelet::ConstLanelets NormalLaneChange::getLaneChangeLanes( const lanelet::ConstLanelets & current_lanes, Direction direction) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (current_lanes.empty()) { return {}; } @@ -1832,6 +1841,7 @@ PathSafetyStatus NormalLaneChange::evaluateApprovedPathWithUnsafeHysteresis( bool NormalLaneChange::isValidPath(const PathWithLaneId & path) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & route_handler = planner_data_->route_handler; const auto & dp = planner_data_->drivable_area_expansion_parameters; @@ -1869,6 +1879,7 @@ bool NormalLaneChange::isValidPath(const PathWithLaneId & path) const bool NormalLaneChange::isRequiredStop(const bool is_object_coming_from_rear) { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto threshold = lane_change_parameters_->backward_length_buffer_for_end_of_lane; if ( isNearEndOfCurrentLanes(status_.current_lanes, status_.target_lanes, threshold) && @@ -1882,6 +1893,7 @@ bool NormalLaneChange::isRequiredStop(const bool is_object_coming_from_rear) bool NormalLaneChange::calcAbortPath() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & route_handler = getRouteHandler(); const auto & common_param = getCommonParam(); const auto current_velocity = @@ -2025,6 +2037,7 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( const utils::path_safety_checker::RSSparams & rss_params, CollisionCheckDebugMap & debug_data) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); PathSafetyStatus path_safety_status; if (collision_check_objects.empty()) { @@ -2108,6 +2121,7 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( bool NormalLaneChange::isVehicleStuck( const lanelet::ConstLanelets & current_lanes, const double obstacle_check_distance) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // Ego is still moving, not in stuck if (std::abs(getEgoVelocity()) > lane_change_parameters_->stop_velocity_threshold) { RCLCPP_DEBUG(logger_, "Ego is still moving, not in stuck"); @@ -2163,6 +2177,7 @@ bool NormalLaneChange::isVehicleStuck( double NormalLaneChange::get_max_velocity_for_safety_check() const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto external_velocity_limit_ptr = planner_data_->external_limit_max_velocity; if (external_velocity_limit_ptr) { return std::min( @@ -2174,6 +2189,7 @@ double NormalLaneChange::get_max_velocity_for_safety_check() const bool NormalLaneChange::isVehicleStuck(const lanelet::ConstLanelets & current_lanes) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (current_lanes.empty()) { lane_change_debug_.is_stuck = false; return false; // can not check @@ -2208,6 +2224,7 @@ void NormalLaneChange::setStopPose(const Pose & stop_pose) void NormalLaneChange::updateStopTime() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto current_vel = getEgoVelocity(); if (std::abs(current_vel) > lane_change_parameters_->stop_velocity_threshold) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp index a76284b70b7d8..3a9aa9cafbcca 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp @@ -21,6 +21,7 @@ #include "autoware/universe_utils/ros/debug_publisher.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" +#include #include #include @@ -277,6 +278,7 @@ class PlannerManager const SceneModulePtr & module_ptr, const std::shared_ptr & planner_data, const BehaviorModuleOutput & previous_module_output) const { + universe_utils::ScopedTimeTrack st(module_ptr->name() + "=>run", *module_ptr->getTimeKeeper()); stop_watch_.tic(module_ptr->name()); module_ptr->setData(planner_data); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index d11c3181526d2..95eb82e0b4c23 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -31,6 +31,7 @@ #include #include #include +#include #include #include @@ -97,7 +98,8 @@ class SceneModuleInterface objects_of_interest_marker_interface_ptr_map_( std::move(objects_of_interest_marker_interface_ptr_map)), steering_factor_interface_ptr_( - std::make_unique(&node, utils::convertToSnakeCase(name))) + std::make_unique(&node, utils::convertToSnakeCase(name))), + time_keeper_(std::make_shared()) { for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { uuid_map_.emplace(module_name, generateUUID()); @@ -244,6 +246,8 @@ class SceneModuleInterface previous_module_output_ = previous_module_output; } + std::shared_ptr getTimeKeeper() const { return time_keeper_; } + /** * @brief set planner data */ @@ -641,6 +645,8 @@ class SceneModuleInterface mutable MarkerArray debug_marker_; mutable MarkerArray drivable_lanes_marker_; + + mutable std::shared_ptr time_keeper_; }; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index fab9a6ba45113..c9adf4d60c21f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -85,6 +85,7 @@ class SceneModuleManagerInterface observer.lock()->setData(planner_data_); observer.lock()->setPreviousModuleOutput(previous_module_output); + observer.lock()->getTimeKeeper()->add_reporter(this->pub_processing_time_); observer.lock()->onEntry(); observers_.push_back(observer); @@ -318,6 +319,8 @@ class SceneModuleManagerInterface pub_debug_marker_ = node->create_publisher("~/debug/" + name_, 20); pub_virtual_wall_ = node->create_publisher("~/virtual_wall/" + name_, 20); pub_drivable_lanes_ = node->create_publisher("~/drivable_lanes/" + name_, 20); + pub_processing_time_ = node->create_publisher( + "~/processing_time/" + name_, 20); } // misc @@ -338,6 +341,8 @@ class SceneModuleManagerInterface rclcpp::Publisher::SharedPtr pub_drivable_lanes_; + rclcpp::Publisher::SharedPtr pub_processing_time_; + std::string name_; std::shared_ptr planner_data_; From 2dfa8ff3f3457078becad34815f422cb43a236a8 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 12 Jul 2024 22:32:34 +0900 Subject: [PATCH 172/306] refactor(lane_change): update lanes and its polygons only when it's updated (#7989) * refactor(lane_change): compute lanes and polygon only when updated Signed-off-by: Zulfaqar Azmi * Revert accidental changesd This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011. Signed-off-by: Zulfaqar Azmi * fix spell check Signed-off-by: Zulfaqar Azmi * Make a common getter for current lanes Signed-off-by: Zulfaqar Azmi * add target lanes getter Signed-off-by: Zulfaqar Azmi * some minor function refactoring Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../src/scene.cpp | 4 +- .../scene.hpp | 13 +- .../utils/base_class.hpp | 19 +- .../utils/data_structs.hpp | 40 ++-- .../utils/path.hpp | 24 +- .../utils/utils.hpp | 22 +- .../src/interface.cpp | 3 +- .../src/scene.cpp | 217 ++++++++++-------- .../src/utils/utils.cpp | 76 ++++-- 9 files changed, 246 insertions(+), 172 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp index 501554b0a2b02..1a2e4439d4b7d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp @@ -134,7 +134,7 @@ AvoidancePlanningData AvoidanceByLaneChange::calcAvoidancePlanningData( const auto resample_interval = avoidance_parameters_->resample_interval_for_planning; data.reference_path = utils::resamplePathWithSpline(data.reference_path_rough, resample_interval); - data.current_lanelets = getCurrentLanes(); + data.current_lanelets = get_current_lanes(); fillAvoidanceTargetObjects(data, debug); @@ -274,7 +274,7 @@ double AvoidanceByLaneChange::calcMinAvoidanceLength(const ObjectData & nearest_ double AvoidanceByLaneChange::calcMinimumLaneChangeLength() const { - const auto current_lanes = getCurrentLanes(); + const auto current_lanes = get_current_lanes(); if (current_lanes.empty()) { RCLCPP_DEBUG(logger_, "no empty lanes"); return std::numeric_limits::infinity(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index be62492b7c2cc..dad96d5f7371a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -51,6 +51,8 @@ class NormalLaneChange : public LaneChangeBase NormalLaneChange & operator=(NormalLaneChange &&) = delete; ~NormalLaneChange() override = default; + void update_lanes(const bool is_approved) final; + void updateLaneChangeStatus() override; std::pair getSafePath(LaneChangePath & safe_path) const override; @@ -105,8 +107,6 @@ class NormalLaneChange : public LaneChangeBase TurnSignalInfo get_current_turn_signal_info() override; protected: - lanelet::ConstLanelets getCurrentLanes() const override; - lanelet::ConstLanelets getLaneChangeLanes( const lanelet::ConstLanelets & current_lanes, Direction direction) const override; @@ -124,9 +124,7 @@ class NormalLaneChange : public LaneChangeBase const LaneChangeLanesFilteredObjects & predicted_objects, const lanelet::ConstLanelets & current_lanes) const; - LaneChangeLanesFilteredObjects filterObjects( - const lanelet::ConstLanelets & current_lanes, - const lanelet::ConstLanelets & target_lanes) const; + LaneChangeLanesFilteredObjects filterObjects() const; void filterOncomingObjects(PredictedObjects & objects) const; @@ -203,6 +201,11 @@ class NormalLaneChange : public LaneChangeBase double getStopTime() const { return stop_time_; } + const lanelet::ConstLanelets & get_target_lanes() const + { + return common_data_ptr_->lanes_ptr->target; + } + double stop_time_{0.0}; }; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index cbd3a81827948..c1cc14d98a7c7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -65,6 +65,8 @@ class LaneChangeBase LaneChangeBase & operator=(LaneChangeBase &&) = delete; virtual ~LaneChangeBase() = default; + virtual void update_lanes(const bool is_approved) = 0; + virtual void updateLaneChangeStatus() = 0; virtual std::pair getSafePath(LaneChangePath & safe_path) const = 0; @@ -139,6 +141,11 @@ class LaneChangeBase const Twist & getEgoTwist() const { return planner_data_->self_odometry->twist.twist; } + const lanelet::ConstLanelets & get_current_lanes() const + { + return common_data_ptr_->lanes_ptr->current; + } + const BehaviorPathPlannerParameters & getCommonParam() const { return planner_data_->parameters; } LaneChangeParameters getLaneChangeParam() const { return *lane_change_parameters_; } @@ -163,9 +170,19 @@ class LaneChangeBase common_data_ptr_->bpp_param_ptr = std::make_shared(data->parameters); } + + if (!common_data_ptr_->lanes_ptr) { + common_data_ptr_->lanes_ptr = std::make_shared(); + } + + if (!common_data_ptr_->lanes_polygon_ptr) { + common_data_ptr_->lanes_polygon_ptr = std::make_shared(); + } + common_data_ptr_->self_odometry_ptr = data->self_odometry; common_data_ptr_->route_handler_ptr = data->route_handler; common_data_ptr_->lc_param_ptr = lane_change_parameters_; + common_data_ptr_->lc_type = type_; common_data_ptr_->direction = direction_; } @@ -211,8 +228,6 @@ class LaneChangeBase virtual TurnSignalInfo get_current_turn_signal_info() = 0; protected: - virtual lanelet::ConstLanelets getCurrentLanes() const = 0; - virtual int getNumToPreferredLane(const lanelet::ConstLanelet & lane) const = 0; virtual PathWithLaneId getPrepareSegment( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index 2fdf7c6b550a3..1bb4dfdeb59dc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -183,6 +183,13 @@ struct PhaseInfo } }; +struct Lanes +{ + lanelet::ConstLanelets current; + lanelet::ConstLanelets target; + std::vector preceding_target; +}; + struct Info { PhaseInfo longitudinal_acceleration{0.0, 0.0}; @@ -190,9 +197,6 @@ struct Info PhaseInfo duration{0.0, 0.0}; PhaseInfo length{0.0, 0.0}; - lanelet::ConstLanelets current_lanes{}; - lanelet::ConstLanelets target_lanes{}; - Pose lane_changing_start{}; Pose lane_changing_end{}; @@ -225,23 +229,26 @@ struct LanesPolygon { std::optional current; std::optional target; - std::vector target_backward; + std::optional expanded_target; + lanelet::BasicPolygon2d target_neighbor; + std::vector preceding_target; }; -struct Lanes -{ - lanelet::ConstLanelets current; - lanelet::ConstLanelets target; - std::vector preceding_target; -}; +using RouteHandlerPtr = std::shared_ptr; +using BppParamPtr = std::shared_ptr; +using LCParamPtr = std::shared_ptr; +using LanesPtr = std::shared_ptr; +using LanesPolygonPtr = std::shared_ptr; struct CommonData { - std::shared_ptr route_handler_ptr; + RouteHandlerPtr route_handler_ptr; Odometry::ConstSharedPtr self_odometry_ptr; - std::shared_ptr bpp_param_ptr; - std::shared_ptr lc_param_ptr; - Lanes lanes; + BppParamPtr bpp_param_ptr; + LCParamPtr lc_param_ptr; + LanesPtr lanes_ptr; + LanesPolygonPtr lanes_polygon_ptr; + ModuleType lc_type; Direction direction; [[nodiscard]] Pose get_ego_pose() const { return self_odometry_ptr->pose.pose; } @@ -259,12 +266,7 @@ struct CommonData return std::hypot(x, y); } }; - -using RouteHandlerPtr = std::shared_ptr; -using BppParamPtr = std::shared_ptr; -using LCParamPtr = std::shared_ptr; using CommonDataPtr = std::shared_ptr; -using LanesPtr = std::shared_ptr; } // namespace autoware::behavior_path_planner::lane_change namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp index 97b5c621deea5..5623f03a22eb3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp @@ -23,31 +23,31 @@ #include -namespace autoware::behavior_path_planner +namespace autoware::behavior_path_planner::lane_change { using autoware::behavior_path_planner::TurnSignalInfo; using tier4_planning_msgs::msg::PathWithLaneId; -struct LaneChangePath +struct Path { PathWithLaneId path{}; ShiftedPath shifted_path{}; - LaneChangeInfo info; - bool is_safe{false}; + Info info{}; }; -using LaneChangePaths = std::vector; -struct LaneChangeStatus +struct Status { - PathWithLaneId lane_follow_path{}; - LaneChangePath lane_change_path{}; - lanelet::ConstLanelets current_lanes{}; - lanelet::ConstLanelets target_lanes{}; - std::vector lane_follow_lane_ids{}; - std::vector lane_change_lane_ids{}; + Path lane_change_path{}; bool is_safe{false}; bool is_valid_path{false}; double start_distance{0.0}; }; +} // namespace autoware::behavior_path_planner::lane_change + +namespace autoware::behavior_path_planner +{ +using LaneChangePath = lane_change::Path; +using LaneChangePaths = std::vector; +using LaneChangeStatus = lane_change::Status; } // namespace autoware::behavior_path_planner #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index e25b67bdb73d8..17eaceb055fc1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -48,6 +48,7 @@ using autoware::universe_utils::Polygon2d; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; using autoware_perception_msgs::msg::PredictedPath; +using behavior_path_planner::lane_change::CommonDataPtr; using behavior_path_planner::lane_change::LanesPolygon; using behavior_path_planner::lane_change::PathSafetyStatus; using geometry_msgs::msg::Point; @@ -114,8 +115,9 @@ bool isPathInLanelets( const lanelet::ConstLanelets & target_lanes); std::optional constructCandidatePath( - const LaneChangeInfo & lane_change_info, const PathWithLaneId & prepare_segment, - const PathWithLaneId & target_segment, const PathWithLaneId & target_lane_reference_path, + const CommonDataPtr & common_data_ptr, const LaneChangeInfo & lane_change_info, + const PathWithLaneId & prepare_segment, const PathWithLaneId & target_segment, + const PathWithLaneId & target_lane_reference_path, const std::vector> & sorted_lane_ids); ShiftLine getLaneChangingShiftLine( @@ -177,10 +179,9 @@ bool isParkedObject( const double ratio_threshold); bool passParkedObject( - const RouteHandler & route_handler, const LaneChangePath & lane_change_path, + const CommonDataPtr & common_data_ptr, const LaneChangePath & lane_change_path, const std::vector & objects, const double minimum_lane_change_length, - const bool is_goal_in_route, const LaneChangeParameters & lane_change_parameters, - CollisionCheckDebugMap & object_debug); + const bool is_goal_in_route, CollisionCheckDebugMap & object_debug); std::optional getLeadingStaticObjectIdx( const RouteHandler & route_handler, const LaneChangePath & lane_change_path, @@ -195,7 +196,8 @@ ExtendedPredictedObject transform( const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase); bool isCollidedPolygonsInLanelet( - const std::vector & collided_polygons, const lanelet::ConstLanelets & lanes); + const std::vector & collided_polygons, + const std::optional & lanes_polygon); /** * @brief Generates expanded lanelets based on the given direction and offsets. @@ -295,9 +297,11 @@ double calcPhaseLength( const double velocity, const double maximum_velocity, const double acceleration, const double time); -LanesPolygon createLanesPolygon( - const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, - const std::vector & target_backward_lanes); +LanesPolygon create_lanes_polygon(const CommonDataPtr & common_data_ptr); + +bool is_same_lane_with_prev_iteration( + const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & current_lanes, + const lanelet::ConstLanelets & target_lanes); } // namespace autoware::behavior_path_planner::utils::lane_change namespace autoware::behavior_path_planner::utils::lane_change::debug diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index b55b41828081e..4823cb0bfec22 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -75,6 +75,7 @@ void LaneChangeInterface::updateData() { universe_utils::ScopedTimeTrack st(__func__, *getTimeKeeper()); module_type_->setPreviousModuleOutput(getPreviousModuleOutput()); + module_type_->update_lanes(getCurrentStatus() == ModuleStatus::RUNNING); module_type_->updateSpecialData(); if (isWaitingApproval() || module_type_->isAbortState()) { @@ -136,7 +137,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() *prev_approved_path_ = getPreviousModuleOutput().path; BehaviorModuleOutput out = getPreviousModuleOutput(); - module_type_->insertStopPoint(module_type_->getLaneChangeStatus().current_lanes, out.path); + module_type_->insertStopPoint(module_type_->get_current_lanes(), out.path); out.turn_signal_info = module_type_->get_current_turn_signal_info(); const auto & lane_change_debug = module_type_->getDebugData(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 8636ff7d9dae7..4dfba64615504 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -41,7 +41,7 @@ namespace autoware::behavior_path_planner { using autoware::motion_utils::calcSignedArcLength; using utils::lane_change::calcMinimumLaneChangeLength; -using utils::lane_change::createLanesPolygon; +using utils::lane_change::create_lanes_polygon; using utils::path_safety_checker::isPolygonOverlapLanelet; using utils::traffic_light::getDistanceToNextTrafficLight; @@ -54,6 +54,42 @@ NormalLaneChange::NormalLaneChange( stop_watch_.tic("stop_time"); } +void NormalLaneChange::update_lanes(const bool is_approved) +{ + if (is_approved) { + return; + } + + const auto current_lanes = + utils::getCurrentLanesFromPath(prev_module_output_.path, planner_data_); + + if (current_lanes.empty()) { + return; + } + + const auto target_lanes = getLaneChangeLanes(current_lanes, direction_); + if (target_lanes.empty()) { + return; + } + + const auto is_same_lanes_with_prev_iteration = + utils::lane_change::is_same_lane_with_prev_iteration( + common_data_ptr_, current_lanes, target_lanes); + + if (is_same_lanes_with_prev_iteration) { + return; + } + + common_data_ptr_->lanes_ptr->current = current_lanes; + common_data_ptr_->lanes_ptr->target = target_lanes; + + common_data_ptr_->lanes_ptr->preceding_target = utils::getPrecedingLanelets( + *common_data_ptr_->route_handler_ptr, get_target_lanes(), common_data_ptr_->get_ego_pose(), + common_data_ptr_->lc_param_ptr->backward_lane_length); + + *common_data_ptr_->lanes_polygon_ptr = create_lanes_polygon(common_data_ptr_); +} + void NormalLaneChange::updateLaneChangeStatus() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -61,34 +97,23 @@ void NormalLaneChange::updateLaneChangeStatus() const auto [found_valid_path, found_safe_path] = getSafePath(status_.lane_change_path); // Update status - status_.current_lanes = status_.lane_change_path.info.current_lanes; - status_.target_lanes = status_.lane_change_path.info.target_lanes; status_.is_valid_path = found_valid_path; status_.is_safe = found_safe_path; - status_.lane_follow_lane_ids = utils::getIds(status_.current_lanes); - status_.lane_change_lane_ids = utils::getIds(status_.target_lanes); - const auto arclength_start = - lanelet::utils::getArcCoordinates(status_.target_lanes, getEgoPose()); + const auto arclength_start = lanelet::utils::getArcCoordinates(get_target_lanes(), getEgoPose()); status_.start_distance = arclength_start.length; status_.lane_change_path.path.header = getRouteHeader(); } std::pair NormalLaneChange::getSafePath(LaneChangePath & safe_path) const { - const auto current_lanes = getCurrentLanes(); - - if (current_lanes.empty()) { - return {false, false}; - } + const auto & current_lanes = get_current_lanes(); + const auto & target_lanes = get_target_lanes(); - const auto target_lanes = getLaneChangeLanes(current_lanes, direction_); - - if (target_lanes.empty()) { + if (current_lanes.empty() || target_lanes.empty()) { return {false, false}; } - // find candidate paths LaneChangePaths valid_paths{}; const bool is_stuck = isVehicleStuck(current_lanes); bool found_safe_path = getLaneChangePaths( @@ -104,8 +129,6 @@ std::pair NormalLaneChange::getSafePath(LaneChangePath & safe_path) lane_change_debug_.valid_paths = valid_paths; if (valid_paths.empty()) { - safe_path.info.current_lanes = current_lanes; - safe_path.info.target_lanes = target_lanes; return {false, false}; } @@ -121,21 +144,22 @@ std::pair NormalLaneChange::getSafePath(LaneChangePath & safe_path) bool NormalLaneChange::isLaneChangeRequired() { - status_.current_lanes = getCurrentLanes(); + const auto current_lanes = + utils::getCurrentLanesFromPath(prev_module_output_.path, planner_data_); - if (status_.current_lanes.empty()) { + if (current_lanes.empty()) { return false; } - status_.target_lanes = getLaneChangeLanes(status_.current_lanes, direction_); + const auto target_lanes = getLaneChangeLanes(current_lanes, direction_); - return !status_.target_lanes.empty(); + return !target_lanes.empty(); } bool NormalLaneChange::isStoppedAtRedTrafficLight() const { return utils::traffic_light::isStoppedAtRedTrafficLightWithinDistance( - status_.current_lanes, status_.lane_change_path.path, planner_data_, + get_current_lanes(), status_.lane_change_path.path, planner_data_, status_.lane_change_path.info.length.sum()); } @@ -143,7 +167,7 @@ TurnSignalInfo NormalLaneChange::get_current_turn_signal_info() { const auto original_turn_signal_info = prev_module_output_.turn_signal_info; - const auto & current_lanes = getLaneChangeStatus().current_lanes; + const auto & current_lanes = get_current_lanes(); const auto is_valid = getLaneChangeStatus().is_valid_path; const auto & lane_change_path = getLaneChangeStatus().lane_change_path; const auto & lane_change_param = getLaneChangeParam(); @@ -236,7 +260,7 @@ BehaviorModuleOutput NormalLaneChange::getTerminalLaneChangePath() const return output; } - const auto current_lanes = getCurrentLanes(); + const auto & current_lanes = get_current_lanes(); if (current_lanes.empty()) { RCLCPP_DEBUG(logger_, "Current lanes not found. Returning previous module's path as output."); return prev_module_output_; @@ -274,7 +298,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() auto output = prev_module_output_; if (isAbortState() && abort_path_) { output.path = abort_path_->path; - insertStopPoint(status_.current_lanes, output.path); + insertStopPoint(get_current_lanes(), output.path); } else { output.path = getLaneChangePath().path; @@ -294,7 +318,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() const auto stop_point = utils::insertStopPoint(stop_dist + current_dist, output.path); setStopPose(stop_point.point.pose); } else { - insertStopPoint(status_.target_lanes, output.path); + insertStopPoint(get_target_lanes(), output.path); } } @@ -315,7 +339,7 @@ void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) c const auto & dp = planner_data_->drivable_area_expansion_parameters; const auto drivable_lanes = utils::lane_change::generateDrivableLanes( - *getRouteHandler(), status_.current_lanes, status_.target_lanes); + *getRouteHandler(), get_current_lanes(), get_target_lanes()); const auto shorten_lanes = utils::cutOverlappedLanes(output.path, drivable_lanes); const auto expanded_lanes = utils::expandLanelets( shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, @@ -361,15 +385,14 @@ void NormalLaneChange::insertStopPoint( } const double stop_point_buffer = lane_change_parameters_->backward_length_buffer_for_end_of_lane; - const auto target_objects = filterObjects(status_.current_lanes, status_.target_lanes); + const auto target_objects = filterObjects(); double stopping_distance = distance_to_terminal - lane_change_buffer - stop_point_buffer; const auto is_valid_start_point = std::invoke([&]() -> bool { auto lc_start_point = lanelet::utils::conversion::toLaneletPoint( status_.lane_change_path.info.lane_changing_start.position); - const auto target_neighbor_preferred_lane_poly_2d = - utils::lane_change::getTargetNeighborLanesPolygon( - *route_handler, status_.current_lanes, type_); + const auto & target_neighbor_preferred_lane_poly_2d = + common_data_ptr_->lanes_polygon_ptr->target_neighbor; return boost::geometry::covered_by( lanelet::traits::to2D(lc_start_point), target_neighbor_preferred_lane_poly_2d); }); @@ -449,7 +472,7 @@ void NormalLaneChange::insertStopPoint( // target_objects includes objects out of target lanes, so filter them out if (!boost::geometry::intersects( autoware::universe_utils::toPolygon2d(o.initial_pose.pose, o.shape).outer(), - lanelet::utils::combineLaneletsShape(status_.target_lanes) + lanelet::utils::combineLaneletsShape(get_target_lanes()) .polygon2d() .basicPolygon())) { return false; @@ -476,7 +499,7 @@ PathWithLaneId NormalLaneChange::getReferencePath() const universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); lanelet::ConstLanelet closest_lanelet; if (!lanelet::utils::query::getClosestLanelet( - status_.lane_change_path.info.target_lanes, getEgoPose(), &closest_lanelet)) { + get_target_lanes(), getEgoPose(), &closest_lanelet)) { return prev_module_output_.reference_path; } const auto reference_path = utils::getCenterLinePathFromLanelet(closest_lanelet, planner_data_); @@ -498,7 +521,7 @@ std::optional NormalLaneChange::extendPath() return std::nullopt; } - auto & target_lanes = status_.target_lanes; + auto & target_lanes = common_data_ptr_->lanes_ptr->target; const auto target_lane_length = lanelet::utils::getLaneletLength2d(target_lanes); const auto dist_in_target = lanelet::utils::getArcCoordinates(target_lanes, getEgoPose()); @@ -569,7 +592,7 @@ TurnSignalInfo NormalLaneChange::updateOutputTurnSignal() const { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & pose = getEgoPose(); - const auto & current_lanes = status_.current_lanes; + const auto & current_lanes = get_current_lanes(); const auto & shift_line = status_.lane_change_path.info.shift_line; const auto & shift_path = status_.lane_change_path.shifted_path; const auto current_shift_length = lanelet::utils::getArcCoordinates(current_lanes, pose).distance; @@ -584,11 +607,6 @@ TurnSignalInfo NormalLaneChange::updateOutputTurnSignal() const return new_signal; } -lanelet::ConstLanelets NormalLaneChange::getCurrentLanes() const -{ - return utils::getCurrentLanesFromPath(prev_module_output_.path, planner_data_); -} - lanelet::ConstLanelets NormalLaneChange::getLaneChangeLanes( const lanelet::ConstLanelets & current_lanes, Direction direction) const { @@ -666,8 +684,9 @@ bool NormalLaneChange::hasFinishedLaneChange() const { const auto & current_pose = getEgoPose(); const auto & lane_change_end = status_.lane_change_path.info.shift_line.end; - const double dist_to_lane_change_end = utils::getSignedDistance( - current_pose, lane_change_end, status_.lane_change_path.info.target_lanes); + const auto & target_lanes = get_target_lanes(); + const double dist_to_lane_change_end = + utils::getSignedDistance(current_pose, lane_change_end, get_target_lanes()); double finish_judge_buffer = lane_change_parameters_->lane_change_finish_judge_buffer; // If ego velocity is low, relax finish judge buffer @@ -685,7 +704,7 @@ bool NormalLaneChange::hasFinishedLaneChange() const return false; } - const auto arc_length = lanelet::utils::getArcCoordinates(status_.target_lanes, current_pose); + const auto arc_length = lanelet::utils::getArcCoordinates(target_lanes, current_pose); const auto reach_target_lane = std::abs(arc_length.distance) < lane_change_parameters_->finish_judge_lateral_threshold; @@ -702,7 +721,7 @@ bool NormalLaneChange::isAbleToReturnCurrentLane() const } if (!utils::isEgoWithinOriginalLane( - status_.current_lanes, getEgoPose(), planner_data_->parameters, + get_current_lanes(), getEgoPose(), planner_data_->parameters, lane_change_parameters_->cancel.overhang_tolerance)) { lane_change_debug_.is_able_to_return_to_current_lane = false; return false; @@ -723,7 +742,7 @@ bool NormalLaneChange::isAbleToReturnCurrentLane() const if (dist > estimated_travel_dist) { const auto & estimated_pose = status_.lane_change_path.path.points.at(idx + 1).point.pose; auto is_ego_within_original_lane = utils::isEgoWithinOriginalLane( - status_.current_lanes, estimated_pose, planner_data_->parameters, + get_current_lanes(), estimated_pose, planner_data_->parameters, lane_change_parameters_->cancel.overhang_tolerance); lane_change_debug_.is_able_to_return_to_current_lane = is_ego_within_original_lane; return is_ego_within_original_lane; @@ -762,7 +781,7 @@ bool NormalLaneChange::isAbleToStopSafely() const if (dist > stop_dist) { const auto & estimated_pose = status_.lane_change_path.path.points.at(idx + 1).point.pose; return utils::isEgoWithinOriginalLane( - status_.current_lanes, estimated_pose, planner_data_->parameters); + get_current_lanes(), estimated_pose, planner_data_->parameters); } } return true; @@ -962,8 +981,7 @@ ExtendedPredictedObjects NormalLaneChange::getTargetObjects( return target_objects; } -LaneChangeLanesFilteredObjects NormalLaneChange::filterObjects( - const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes) const +LaneChangeLanesFilteredObjects NormalLaneChange::filterObjects() const { const auto & current_pose = getEgoPose(); const auto & route_handler = getRouteHandler(); @@ -982,6 +1000,12 @@ LaneChangeLanesFilteredObjects NormalLaneChange::filterObjects( return {}; } + const auto & current_lanes = get_current_lanes(); + + if (current_lanes.empty()) { + return {}; + } + filterAheadTerminalObjects(objects, current_lanes); if (objects.objects.empty()) { @@ -992,6 +1016,12 @@ LaneChangeLanesFilteredObjects NormalLaneChange::filterObjects( std::vector current_lane_objects; std::vector other_lane_objects; + const auto & target_lanes = get_target_lanes(); + + if (target_lanes.empty()) { + return {}; + } + filterObjectsByLanelets( objects, current_lanes, target_lanes, current_lane_objects, target_lane_objects, other_lane_objects); @@ -1132,9 +1162,7 @@ void NormalLaneChange::filterObjectsByLanelets( }; // get backward lanes - const auto backward_length = lane_change_parameters_->backward_lane_length; - const auto target_backward_lanes = - utils::getPrecedingLanelets(*route_handler, target_lanes, current_pose, backward_length); + const auto & target_backward_lanes = common_data_ptr_->lanes_ptr->preceding_target; { lane_change_debug_.current_lanes = current_lanes; @@ -1151,12 +1179,7 @@ void NormalLaneChange::filterObjectsByLanelets( }); } - const auto expanded_target_lanes = utils::lane_change::generateExpandedLanelets( - target_lanes, direction_, lane_change_parameters_->lane_expansion_left_offset, - lane_change_parameters_->lane_expansion_right_offset); - - const auto lanes_polygon = - createLanesPolygon(current_lanes, expanded_target_lanes, target_backward_lanes); + const auto & lanes_polygon = *common_data_ptr_->lanes_polygon_ptr; const auto dist_ego_to_current_lanes_center = lanelet::utils::getLateralDistanceToClosestLanelet(current_lanes, current_pose); @@ -1176,7 +1199,7 @@ void NormalLaneChange::filterObjectsByLanelets( return std::abs(lateral) > (common_parameters.vehicle_width / 2); }); - if (check_optional_polygon(object, lanes_polygon.target) && is_lateral_far) { + if (check_optional_polygon(object, lanes_polygon.expanded_target) && is_lateral_far) { target_lane_objects.push_back(object); continue; } @@ -1186,7 +1209,7 @@ void NormalLaneChange::filterObjectsByLanelets( return isPolygonOverlapLanelet(object, target_backward_polygon); }; return std::any_of( - lanes_polygon.target_backward.begin(), lanes_polygon.target_backward.end(), + lanes_polygon.preceding_target.begin(), lanes_polygon.preceding_target.end(), check_backward_polygon); }); @@ -1376,14 +1399,14 @@ bool NormalLaneChange::getLaneChangePaths( const auto sorted_lane_ids = utils::lane_change::getSortedLaneIds(route_handler, getEgoPose(), current_lanes, target_lanes); - const auto target_neighbor_preferred_lane_poly_2d = - utils::lane_change::getTargetNeighborLanesPolygon(route_handler, current_lanes, type_); + const auto & target_neighbor_preferred_lane_poly_2d = + common_data_ptr_->lanes_polygon_ptr->target_neighbor; if (target_neighbor_preferred_lane_poly_2d.empty()) { RCLCPP_WARN(logger_, "target_neighbor_preferred_lane_poly_2d is empty. Not expected."); return false; } - const auto filtered_objects = filterObjects(current_lanes, target_lanes); + const auto filtered_objects = filterObjects(); const auto target_objects = getTargetObjects(filtered_objects, current_lanes); const auto prepare_durations = calcPrepareDuration(current_lanes, target_lanes); @@ -1513,9 +1536,7 @@ bool NormalLaneChange::getLaneChangePaths( prepare_segment.points.back().point.pose.position.x, prepare_segment.points.back().point.pose.position.y); - const auto target_lane_polygon = lanelet::utils::getPolygonFromArcLength( - target_lanes, 0, std::numeric_limits::max()); - const auto target_lane_poly_2d = lanelet::utils::to2D(target_lane_polygon).basicPolygon(); + const auto target_lane_poly_2d = common_data_ptr_->lanes_polygon_ptr->target.value(); const auto is_valid_start_point = boost::geometry::covered_by(lc_start_point, target_neighbor_preferred_lane_poly_2d) || @@ -1528,8 +1549,6 @@ bool NormalLaneChange::getLaneChangePaths( lane_change_info.velocity = LaneChangePhaseInfo{prepare_velocity, initial_lane_changing_velocity}; lane_change_info.length = LaneChangePhaseInfo{prepare_length, lane_changing_length}; - lane_change_info.current_lanes = current_lanes; - lane_change_info.target_lanes = target_lanes; lane_change_info.lane_changing_start = prepare_segment.points.back().point.pose; lane_change_info.lane_changing_end = target_segment.points.front().point.pose; lane_change_info.lateral_acceleration = lateral_acc; @@ -1558,8 +1577,8 @@ bool NormalLaneChange::getLaneChangePaths( prepare_segment, target_segment, target_lane_reference_path, shift_length); const auto candidate_path = utils::lane_change::constructCandidatePath( - lane_change_info, prepare_segment, target_segment, target_lane_reference_path, - sorted_lane_ids); + common_data_ptr_, lane_change_info, prepare_segment, target_segment, + target_lane_reference_path, sorted_lane_ids); if (!candidate_path) { debug_print_lat("Reject: failed to generate candidate path!!"); @@ -1601,7 +1620,7 @@ bool NormalLaneChange::getLaneChangePaths( } if (utils::traffic_light::isStoppedAtRedTrafficLightWithinDistance( - lane_change_info.current_lanes, candidate_path.value().path, planner_data_, + get_current_lanes(), candidate_path.value().path, planner_data_, lane_change_info.length.sum())) { debug_print_lat("Ego is stopping near traffic light. Do not allow lane change"); continue; @@ -1609,10 +1628,10 @@ bool NormalLaneChange::getLaneChangePaths( candidate_paths->push_back(*candidate_path); if ( - !is_stuck && utils::lane_change::passParkedObject( - route_handler, *candidate_path, filtered_objects.target_lane, - lane_change_buffer, is_goal_in_route, *lane_change_parameters_, - lane_change_debug_.collision_check_objects)) { + !is_stuck && + utils::lane_change::passParkedObject( + common_data_ptr_, *candidate_path, filtered_objects.target_lane, lane_change_buffer, + is_goal_in_route, lane_change_debug_.collision_check_objects)) { debug_print_lat( "Reject: parking vehicle exists in the target lane, and the ego is not in stuck. Skip " "lane change."); @@ -1670,7 +1689,7 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( utils::lane_change::getSortedLaneIds(route_handler, getEgoPose(), current_lanes, target_lanes); const auto target_neighbor_preferred_lane_poly_2d = - utils::lane_change::getTargetNeighborLanesPolygon(route_handler, current_lanes, type_); + common_data_ptr_->lanes_polygon_ptr->target_neighbor; if (target_neighbor_preferred_lane_poly_2d.empty()) { RCLCPP_WARN(logger_, "target_neighbor_preferred_lane_poly_2d is empty. Not expected."); return {}; @@ -1725,9 +1744,7 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( const lanelet::BasicPoint2d lc_start_point( lane_changing_start_pose->position.x, lane_changing_start_pose->position.y); - const auto target_lane_polygon = - lanelet::utils::getPolygonFromArcLength(target_lanes, 0, std::numeric_limits::max()); - const auto target_lane_poly_2d = lanelet::utils::to2D(target_lane_polygon).basicPolygon(); + const auto & target_lane_poly_2d = common_data_ptr_->lanes_polygon_ptr->target.value(); const auto is_valid_start_point = boost::geometry::covered_by(lc_start_point, target_neighbor_preferred_lane_poly_2d) || @@ -1739,8 +1756,6 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( lane_change_info.velocity = LaneChangePhaseInfo{minimum_lane_changing_velocity, minimum_lane_changing_velocity}; lane_change_info.length = LaneChangePhaseInfo{0.0, lane_change_buffer}; - lane_change_info.current_lanes = current_lanes; - lane_change_info.target_lanes = target_lanes; lane_change_info.lane_changing_start = lane_changing_start_pose.value(); lane_change_info.lane_changing_end = target_segment.points.front().point.pose; lane_change_info.lateral_acceleration = max_lateral_acc; @@ -1780,8 +1795,8 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( reference_segment.points.back().point.longitudinal_velocity_mps = minimum_lane_changing_velocity; const auto terminal_lane_change_path = utils::lane_change::constructCandidatePath( - lane_change_info, reference_segment, target_segment, target_lane_reference_path, - sorted_lane_ids); + common_data_ptr_, lane_change_info, reference_segment, target_segment, + target_lane_reference_path, sorted_lane_ids); return terminal_lane_change_path; } @@ -1789,10 +1804,14 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const { const auto & path = status_.lane_change_path; - const auto & current_lanes = status_.current_lanes; - const auto & target_lanes = status_.target_lanes; + const auto & current_lanes = get_current_lanes(); + const auto & target_lanes = get_target_lanes(); + + if (current_lanes.empty() || target_lanes.empty()) { + return {true, true}; + } - const auto filtered_objects = filterObjects(current_lanes, target_lanes); + const auto filtered_objects = filterObjects(); const auto target_objects = getTargetObjects(filtered_objects, current_lanes); CollisionCheckDebugMap debug_data; @@ -1847,8 +1866,8 @@ bool NormalLaneChange::isValidPath(const PathWithLaneId & path) const // check lane departure const auto drivable_lanes = utils::lane_change::generateDrivableLanes( - *route_handler, utils::extendLanes(route_handler, status_.current_lanes), - utils::extendLanes(route_handler, status_.target_lanes)); + *route_handler, utils::extendLanes(route_handler, get_current_lanes()), + utils::extendLanes(route_handler, get_target_lanes())); const auto expanded_lanes = utils::expandLanelets( drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, dp.drivable_area_types_to_skip); @@ -1882,7 +1901,7 @@ bool NormalLaneChange::isRequiredStop(const bool is_object_coming_from_rear) universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto threshold = lane_change_parameters_->backward_length_buffer_for_end_of_lane; if ( - isNearEndOfCurrentLanes(status_.current_lanes, status_.target_lanes, threshold) && + isNearEndOfCurrentLanes(get_current_lanes(), get_target_lanes(), threshold) && isAbleToStopSafely() && is_object_coming_from_rear) { current_lane_change_state_ = LaneChangeStates::Stop; return true; @@ -1900,16 +1919,16 @@ bool NormalLaneChange::calcAbortPath() std::max(lane_change_parameters_->minimum_lane_changing_velocity, getEgoVelocity()); const auto current_pose = getEgoPose(); const auto & selected_path = status_.lane_change_path; - const auto reference_lanelets = selected_path.info.current_lanes; const auto ego_nearest_dist_threshold = common_param.ego_nearest_dist_threshold; const auto ego_nearest_yaw_threshold = common_param.ego_nearest_yaw_threshold; const auto direction = getDirection(); const auto minimum_lane_change_length = utils::lane_change::calcMinimumLaneChangeLength( - route_handler, selected_path.info.current_lanes.back(), *lane_change_parameters_, direction); + route_handler, get_current_lanes().back(), *lane_change_parameters_, direction); const auto & lane_changing_path = selected_path.path; + const auto & reference_lanelets = get_current_lanes(); const auto lane_changing_end_pose_idx = std::invoke([&]() { constexpr double s_start = 0.0; const double s_end = std::max( @@ -1998,7 +2017,7 @@ bool NormalLaneChange::calcAbortPath() auto reference_lane_segment = prev_module_output_.path; { // const auto terminal_path = - // calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes); + // calcTerminalLaneChangePath(reference_lanelets, get_target_lanes()); // if (terminal_path) { // reference_lane_segment = terminal_path->path; // } @@ -2063,12 +2082,8 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( const auto debug_predicted_path = utils::path_safety_checker::convertToPredictedPath(ego_predicted_path, time_resolution); - const auto current_lanes = getCurrentLanes(); - - const auto expanded_target_lanes = utils::lane_change::generateExpandedLanelets( - lane_change_path.info.target_lanes, direction_, - lane_change_parameters_->lane_expansion_left_offset, - lane_change_parameters_->lane_expansion_right_offset); + const auto & current_lanes_polygon = common_data_ptr_->lanes_polygon_ptr->current; + const auto & expanded_target_polygon = common_data_ptr_->lanes_polygon_ptr->expanded_target; constexpr double collision_check_yaw_diff_threshold{M_PI}; @@ -2089,10 +2104,10 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( continue; } - const auto collision_in_current_lanes = utils::lane_change::isCollidedPolygonsInLanelet( - collided_polygons, lane_change_path.info.current_lanes); + const auto collision_in_current_lanes = + utils::lane_change::isCollidedPolygonsInLanelet(collided_polygons, current_lanes_polygon); const auto collision_in_target_lanes = - utils::lane_change::isCollidedPolygonsInLanelet(collided_polygons, expanded_target_lanes); + utils::lane_change::isCollidedPolygonsInLanelet(collided_polygons, expanded_target_polygon); if (!collision_in_current_lanes && !collision_in_target_lanes) { utils::path_safety_checker::updateCollisionCheckDebugMap( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index ead047f839f47..5f13aa3192113 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -330,13 +330,12 @@ bool isPathInLanelets( } std::optional constructCandidatePath( - const LaneChangeInfo & lane_change_info, const PathWithLaneId & prepare_segment, - const PathWithLaneId & target_segment, const PathWithLaneId & target_lane_reference_path, + const CommonDataPtr & common_data_ptr, const LaneChangeInfo & lane_change_info, + const PathWithLaneId & prepare_segment, const PathWithLaneId & target_segment, + const PathWithLaneId & target_lane_reference_path, const std::vector> & sorted_lane_ids) { const auto & shift_line = lane_change_info.shift_line; - const auto & original_lanes = lane_change_info.current_lanes; - const auto & target_lanes = lane_change_info.target_lanes; const auto terminal_lane_changing_velocity = lane_change_info.terminal_lane_changing_velocity; const auto longitudinal_acceleration = lane_change_info.longitudinal_acceleration; const auto lane_change_velocity = lane_change_info.velocity; @@ -393,9 +392,11 @@ std::optional constructCandidatePath( const bool enable_path_check_in_lanelet = false; // check candidate path is in lanelet + const auto & current_lanes = common_data_ptr->lanes_ptr->current; + const auto & target_lanes = common_data_ptr->lanes_ptr->target; if ( enable_path_check_in_lanelet && - !isPathInLanelets(shifted_path.path, original_lanes, target_lanes)) { + !isPathInLanelets(shifted_path.path, current_lanes, target_lanes)) { return std::nullopt; } @@ -968,17 +969,18 @@ bool isParkedObject( } bool passParkedObject( - const RouteHandler & route_handler, const LaneChangePath & lane_change_path, + const CommonDataPtr & common_data_ptr, const LaneChangePath & lane_change_path, const std::vector & objects, const double minimum_lane_change_length, - const bool is_goal_in_route, const LaneChangeParameters & lane_change_parameters, - CollisionCheckDebugMap & object_debug) + const bool is_goal_in_route, CollisionCheckDebugMap & object_debug) { + const auto route_handler = *common_data_ptr->route_handler_ptr; + const auto lane_change_parameters = *common_data_ptr->lc_param_ptr; const auto & object_check_min_road_shoulder_width = lane_change_parameters.object_check_min_road_shoulder_width; const auto & object_shiftable_ratio_threshold = lane_change_parameters.object_shiftable_ratio_threshold; const auto & path = lane_change_path.path; - const auto & current_lanes = lane_change_path.info.current_lanes; + const auto & current_lanes = common_data_ptr->lanes_ptr->current; const auto current_lane_path = route_handler.getCenterLinePath(current_lanes, 0.0, std::numeric_limits::max()); @@ -1135,10 +1137,9 @@ ExtendedPredictedObject transform( } bool isCollidedPolygonsInLanelet( - const std::vector & collided_polygons, const lanelet::ConstLanelets & lanes) + const std::vector & collided_polygons, + const std::optional & lanes_polygon) { - const auto lanes_polygon = createPolygon(lanes, 0.0, std::numeric_limits::max()); - const auto is_in_lanes = [&](const auto & collided_polygon) { return lanes_polygon && boost::geometry::intersects(lanes_polygon.value(), collided_polygon); }; @@ -1207,27 +1208,60 @@ double calcPhaseLength( return std::min(length_with_acceleration, length_with_max_velocity); } -LanesPolygon createLanesPolygon( - const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, - const std::vector & target_backward_lanes) +LanesPolygon create_lanes_polygon(const CommonDataPtr & common_data_ptr) { + const auto & lanes = common_data_ptr->lanes_ptr; LanesPolygon lanes_polygon; lanes_polygon.current = - utils::lane_change::createPolygon(current_lanes, 0.0, std::numeric_limits::max()); + utils::lane_change::createPolygon(lanes->current, 0.0, std::numeric_limits::max()); lanes_polygon.target = - utils::lane_change::createPolygon(target_lanes, 0.0, std::numeric_limits::max()); + utils::lane_change::createPolygon(lanes->target, 0.0, std::numeric_limits::max()); + + const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; + const auto expanded_target_lanes = utils::lane_change::generateExpandedLanelets( + lanes->target, common_data_ptr->direction, lc_param_ptr->lane_expansion_left_offset, + lc_param_ptr->lane_expansion_right_offset); + lanes_polygon.expanded_target = utils::lane_change::createPolygon( + expanded_target_lanes, 0.0, std::numeric_limits::max()); + + const auto & route_handler = *common_data_ptr->route_handler_ptr; + lanes_polygon.target_neighbor = + getTargetNeighborLanesPolygon(route_handler, lanes->current, common_data_ptr->lc_type); - for (const auto & target_backward_lane : target_backward_lanes) { - auto lane_polygon = utils::lane_change::createPolygon( - target_backward_lane, 0.0, std::numeric_limits::max()); + lanes_polygon.preceding_target.reserve(lanes->preceding_target.size()); + for (const auto & preceding_lane : lanes->preceding_target) { + auto lane_polygon = + utils::lane_change::createPolygon(preceding_lane, 0.0, std::numeric_limits::max()); if (lane_polygon) { - lanes_polygon.target_backward.push_back(*lane_polygon); + lanes_polygon.preceding_target.push_back(*lane_polygon); } } return lanes_polygon; } + +bool is_same_lane_with_prev_iteration( + const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & current_lanes, + const lanelet::ConstLanelets & target_lanes) +{ + if (current_lanes.empty() || target_lanes.empty()) { + return false; + } + const auto & prev_current_lanes = common_data_ptr->lanes_ptr->current; + const auto & prev_target_lanes = common_data_ptr->lanes_ptr->target; + if (prev_current_lanes.empty() || prev_target_lanes.empty()) { + return false; + } + + if ( + (prev_current_lanes.front().id() != current_lanes.front().id()) || + (prev_current_lanes.back().id() != prev_current_lanes.back().id())) { + return false; + } + return (prev_target_lanes.front().id() == target_lanes.front().id()) && + (prev_target_lanes.back().id() == prev_target_lanes.back().id()); +} } // namespace autoware::behavior_path_planner::utils::lane_change namespace autoware::behavior_path_planner::utils::lane_change::debug From 479cddac49c8fb0e9e0342cf198b445f5e33fd95 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mehmet=20Emin=20BA=C5=9EO=C4=9ELU?= Date: Fri, 12 Jul 2024 19:48:41 +0300 Subject: [PATCH 173/306] feat(system): create a package to monitor component containers (#7094) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Mehmet Emin BAÅžOÄžLU --- .../autoware_component_monitor/CMakeLists.txt | 31 +++ system/autoware_component_monitor/README.md | 84 +++++++++ .../config/component_monitor.param.yaml | 3 + .../launch/component_monitor.launch.xml | 9 + system/autoware_component_monitor/package.xml | 25 +++ .../schema/component_monitor.schema.json | 30 +++ .../src/component_monitor_node.cpp | 177 ++++++++++++++++++ .../src/component_monitor_node.hpp | 102 ++++++++++ .../src/unit_conversions.hpp | 68 +++++++ .../test/test_unit_conversions.cpp | 57 ++++++ 10 files changed, 586 insertions(+) create mode 100644 system/autoware_component_monitor/CMakeLists.txt create mode 100644 system/autoware_component_monitor/README.md create mode 100644 system/autoware_component_monitor/config/component_monitor.param.yaml create mode 100644 system/autoware_component_monitor/launch/component_monitor.launch.xml create mode 100644 system/autoware_component_monitor/package.xml create mode 100644 system/autoware_component_monitor/schema/component_monitor.schema.json create mode 100644 system/autoware_component_monitor/src/component_monitor_node.cpp create mode 100644 system/autoware_component_monitor/src/component_monitor_node.hpp create mode 100644 system/autoware_component_monitor/src/unit_conversions.hpp create mode 100644 system/autoware_component_monitor/test/test_unit_conversions.cpp diff --git a/system/autoware_component_monitor/CMakeLists.txt b/system/autoware_component_monitor/CMakeLists.txt new file mode 100644 index 0000000000000..674b079a90563 --- /dev/null +++ b/system/autoware_component_monitor/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.8) +project(autoware_component_monitor) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(Boost REQUIRED COMPONENTS + filesystem +) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/component_monitor_node.cpp +) +target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES}) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::component_monitor::ComponentMonitor" + EXECUTABLE ${PROJECT_NAME}_node +) + +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_unit_conversions test/test_unit_conversions.cpp) + target_link_libraries(test_unit_conversions ${PROJECT_NAME}) + target_include_directories(test_unit_conversions PRIVATE src) +endif() + +ament_auto_package( + INSTALL_TO_SHARE + config + launch +) diff --git a/system/autoware_component_monitor/README.md b/system/autoware_component_monitor/README.md new file mode 100644 index 0000000000000..c255c420c048e --- /dev/null +++ b/system/autoware_component_monitor/README.md @@ -0,0 +1,84 @@ +# autoware_component_monitor + +The `autoware_component_monitor` package allows monitoring system usage of component containers. +The composable node inside the package is attached to a component container, and it publishes CPU and memory usage of +the container. + +## Inputs / Outputs + +### Input + +None. + +### Output + +| Name | Type | Description | +| -------------------------- | -------------------------------------------------- | ---------------------- | +| `~/component_system_usage` | `autoware_internal_msgs::msg::ResourceUsageReport` | CPU, Memory usage etc. | + +## Parameters + +### Core Parameters + +{{ json_to_markdown("system/autoware_component_monitor/schema/component_monitor.schema.json") }} + +## How to use + +Add it as a composable node in your launch file: + +```xml + + + + + ... + + + + + + + + ... + + +``` + +### Quick testing + +You can test the package by running the following command: + +```bash +ros2 component load autoware_component_monitor autoware::component_monitor::ComponentMonitor -p publish_rate:=10.0 --node-namespace + +# Example usage +ros2 component load /pointcloud_container autoware_component_monitor autoware::component_monitor::ComponentMonitor -p publish_rate:=10.0 --node-namespace /pointcloud_container +``` + +## How it works + +The package uses the `top` command under the hood. +`top -b -n 1 -E k -p PID` command is run at 10 Hz to get the system usage of the process. + +- `-b` activates the batch mode. By default, `top` doesn't exit and prints to stdout periodically. Batch mode allows + exiting the program. +- `-n` number of times should `top` prints the system usage in batch mode. +- `-p` specifies the PID of the process to monitor. +- `-E k` changes the memory unit in the summary section to KiB. + +Here is a sample output: + +```text +top - 13:57:26 up 3:14, 1 user, load average: 1,09, 1,10, 1,04 +Tasks: 1 total, 0 running, 1 sleeping, 0 stopped, 0 zombie +%Cpu(s): 0,0 us, 0,8 sy, 0,0 ni, 99,2 id, 0,0 wa, 0,0 hi, 0,0 si, 0,0 st +KiB Mem : 65532208 total, 35117428 free, 17669824 used, 12744956 buff/cache +KiB Swap: 39062524 total, 39062524 free, 0 used. 45520816 avail Mem + + PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND + 3352 meb 20 0 2905940 1,2g 39292 S 0,0 2,0 23:24.01 awesome +``` + +We get 5th, 8th fields from the last line, which are RES, %CPU respectively. diff --git a/system/autoware_component_monitor/config/component_monitor.param.yaml b/system/autoware_component_monitor/config/component_monitor.param.yaml new file mode 100644 index 0000000000000..62cf278921460 --- /dev/null +++ b/system/autoware_component_monitor/config/component_monitor.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + publish_rate: 5.0 # Hz diff --git a/system/autoware_component_monitor/launch/component_monitor.launch.xml b/system/autoware_component_monitor/launch/component_monitor.launch.xml new file mode 100644 index 0000000000000..1b2a77eddab93 --- /dev/null +++ b/system/autoware_component_monitor/launch/component_monitor.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/system/autoware_component_monitor/package.xml b/system/autoware_component_monitor/package.xml new file mode 100644 index 0000000000000..640e1f2dc2517 --- /dev/null +++ b/system/autoware_component_monitor/package.xml @@ -0,0 +1,25 @@ + + + + autoware_component_monitor + 0.0.0 + A ROS 2 package to monitor system usage of component containers. + Mehmet Emin BaÅŸoÄŸlu + Apache-2.0 + + ament_cmake_auto + autoware_cmake + + autoware_internal_msgs + libboost-filesystem-dev + rclcpp + rclcpp_components + + ament_cmake_ros + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/system/autoware_component_monitor/schema/component_monitor.schema.json b/system/autoware_component_monitor/schema/component_monitor.schema.json new file mode 100644 index 0000000000000..f0edf5add718e --- /dev/null +++ b/system/autoware_component_monitor/schema/component_monitor.schema.json @@ -0,0 +1,30 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for the Component Monitor node", + "type": "object", + "definitions": { + "component_monitor": { + "type": "object", + "properties": { + "publish_rate": { + "type": "number", + "default": "5.0", + "description": "Publish rate in Hz" + } + }, + "required": ["publish_rate"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/component_monitor" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/system/autoware_component_monitor/src/component_monitor_node.cpp b/system/autoware_component_monitor/src/component_monitor_node.cpp new file mode 100644 index 0000000000000..3c5d6b6667725 --- /dev/null +++ b/system/autoware_component_monitor/src/component_monitor_node.cpp @@ -0,0 +1,177 @@ +// Copyright 2024 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "component_monitor_node.hpp" + +#include "unit_conversions.hpp" + +#include + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace autoware::component_monitor +{ +ComponentMonitor::ComponentMonitor(const rclcpp::NodeOptions & node_options) +: Node("component_monitor", node_options), publish_rate_(declare_parameter("publish_rate")) +{ + usage_pub_ = + create_publisher("~/component_system_usage", rclcpp::SensorDataQoS()); + + // Make sure top ins installed and is in path + const auto path_top = boost::process::search_path("top"); + if (path_top.empty()) { + RCLCPP_ERROR_STREAM(get_logger(), "Couldn't find 'top' in path."); + rclcpp::shutdown(); + } + + // Get the PID of the current process + int pid = getpid(); + + environment_ = boost::this_process::environment(); + environment_["LC_NUMERIC"] = "en_US.UTF-8"; + + on_timer_tick_wrapped_ = std::bind(&ComponentMonitor::on_timer_tick, this, pid); + + timer_ = rclcpp::create_timer( + this, get_clock(), rclcpp::Rate(publish_rate_).period(), on_timer_tick_wrapped_); +} + +void ComponentMonitor::on_timer_tick(const int pid) const +{ + if (usage_pub_->get_subscription_count() == 0) return; + + try { + auto usage_msg = pid_to_report(pid); + usage_msg.header.stamp = this->now(); + usage_msg.pid = pid; + usage_pub_->publish(usage_msg); + } catch (std::exception & e) { + RCLCPP_ERROR(get_logger(), "%s", e.what()); + } catch (...) { + RCLCPP_ERROR(get_logger(), "An unknown error occurred."); + } +} + +ComponentMonitor::ResourceUsageReport ComponentMonitor::pid_to_report(const pid_t & pid) const +{ + const auto std_out = run_system_command("top -b -n 1 -E k -p " + std::to_string(pid)); + + const auto fields = parse_lines_into_words(std_out); + + ResourceUsageReport report; + report.cpu_cores_utilized = std::stof(fields.back().at(8)) / 100.0f; + report.total_memory_bytes = unit_conversions::kib_to_bytes(std::stoul(fields.at(3).at(3))); + report.free_memory_bytes = unit_conversions::kib_to_bytes(std::stoul(fields.at(3).at(5))); + report.process_memory_bytes = parse_memory_res(fields.back().at(5)); + + return report; +} + +std::stringstream ComponentMonitor::run_system_command(const std::string & cmd) const +{ + int out_fd[2]; + if (pipe2(out_fd, O_CLOEXEC) != 0) { + RCLCPP_ERROR_STREAM(get_logger(), "Error setting flags on out_fd"); + } + boost::process::pipe out_pipe{out_fd[0], out_fd[1]}; + boost::process::ipstream is_out{std::move(out_pipe)}; + + int err_fd[2]; + if (pipe2(err_fd, O_CLOEXEC) != 0) { + RCLCPP_ERROR_STREAM(get_logger(), "Error setting flags on err_fd"); + } + boost::process::pipe err_pipe{err_fd[0], err_fd[1]}; + boost::process::ipstream is_err{std::move(err_pipe)}; + + boost::process::child c( + cmd, environment_, boost::process::std_out > is_out, boost::process::std_err > is_err); + c.wait(); + + if (c.exit_code() != 0) { + std::ostringstream os; + is_err >> os.rdbuf(); + RCLCPP_ERROR_STREAM(get_logger(), "Error running command: " << os.str()); + } + + std::stringstream sstream; + sstream << is_out.rdbuf(); + return sstream; +} + +ComponentMonitor::VecVecStr ComponentMonitor::parse_lines_into_words( + const std::stringstream & std_out) +{ + VecVecStr fields; + std::string line; + std::istringstream input{std_out.str()}; + + while (std::getline(input, line)) { + std::istringstream iss_line{line}; + std::string word; + std::vector words; + + while (iss_line >> word) { + words.push_back(word); + } + + fields.push_back(words); + } + + return fields; +} + +std::uint64_t ComponentMonitor::parse_memory_res(const std::string & mem_res) +{ + // example 1: 12.3g + // example 2: 123 (without suffix, just bytes) + static const std::unordered_map> unit_map{ + {'k', unit_conversions::kib_to_bytes}, {'m', unit_conversions::mib_to_bytes}, + {'g', unit_conversions::gib_to_bytes}, {'t', unit_conversions::tib_to_bytes}, + {'p', unit_conversions::pib_to_bytes}, {'e', unit_conversions::eib_to_bytes}}; + + if (std::isdigit(mem_res.back())) { + return std::stoull(mem_res); // Handle plain bytes without any suffix + } + + // Extract the numeric part and the unit suffix + double value = std::stod(mem_res.substr(0, mem_res.size() - 1)); + char suffix = mem_res.back(); + + // Find the appropriate function from the map + auto it = unit_map.find(suffix); + if (it != unit_map.end()) { + const auto & conversion_function = it->second; + return conversion_function(value); + } + + // Throw an exception or handle the error as needed if the suffix is not recognized + throw std::runtime_error("Unsupported unit suffix: " + std::string(1, suffix)); +} + +} // namespace autoware::component_monitor + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::component_monitor::ComponentMonitor) diff --git a/system/autoware_component_monitor/src/component_monitor_node.hpp b/system/autoware_component_monitor/src/component_monitor_node.hpp new file mode 100644 index 0000000000000..70a486eb8209b --- /dev/null +++ b/system/autoware_component_monitor/src/component_monitor_node.hpp @@ -0,0 +1,102 @@ +// Copyright 2024 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef COMPONENT_MONITOR_NODE_HPP_ +#define COMPONENT_MONITOR_NODE_HPP_ + +#include + +#include + +#include + +#include +#include +#include +#include + +namespace autoware::component_monitor +{ +class ComponentMonitor : public rclcpp::Node +{ +public: + explicit ComponentMonitor(const rclcpp::NodeOptions & node_options); + +private: + using ResourceUsageReport = autoware_internal_msgs::msg::ResourceUsageReport; + using VecVecStr = std::vector>; + + const double publish_rate_; + + std::function on_timer_tick_wrapped_; + + rclcpp::Publisher::SharedPtr usage_pub_; + rclcpp::TimerBase::SharedPtr timer_; + + boost::process::native_environment environment_; + + void on_timer_tick(int pid) const; + + /** + * @brief Get system usage of the component. + * + * @details The output of top -b -n 1 -E k -p PID` is like below: + * + * top - 13:57:26 up 3:14, 1 user, load average: 1,09, 1,10, 1,04 + * Tasks: 1 total, 0 running, 1 sleeping, 0 stopped, 0 zombie + * %Cpu(s): 0,0 us, 0,8 sy, 0,0 ni, 99,2 id, 0,0 wa, 0,0 hi, 0,0 si, 0,0 st + * KiB Mem : 65532208 total, 35117428 free, 17669824 used, 12744956 buff/cache + * KiB Swap: 39062524 total, 39062524 free, 0 used. 45520816 avail Mem + * + * PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND + * 3352 meb 20 0 2905940 1,2g 39292 S 0,0 2,0 23:24.01 awesome + * + * We get 5th and 8th fields, which are RES, %CPU, respectively. + */ + ResourceUsageReport pid_to_report(const pid_t & pid) const; + + /** + * @brief Run a terminal command and return the standard output. + * + * @param cmd The terminal command to run + * @return The standard output of the command + */ + std::stringstream run_system_command(const std::string & cmd) const; + + /** + * @brief Parses text from a stringstream into separated words by line. + * + * @param std_out Reference to the input stringstream. + * @return Nested vector with each inner vector containing words from one line. + */ + static VecVecStr parse_lines_into_words(const std::stringstream & std_out); + + /** + * @brief Parses a memory resource string and converts it to bytes. + * + * This function handles memory size strings with suffixes to denote + * the units (e.g., "k" for kibibytes, "m" for mebibytes, etc.). + * If the string has no suffix, it is interpreted as plain bytes. + * + * @param mem_res A string representing the memory resource with a unit suffix or just bytes. + * @return uint64_t The memory size in bytes. + * + * @exception std::runtime_error Thrown if the suffix is not recognized. + */ + static std::uint64_t parse_memory_res(const std::string & mem_res); +}; + +} // namespace autoware::component_monitor + +#endif // COMPONENT_MONITOR_NODE_HPP_ diff --git a/system/autoware_component_monitor/src/unit_conversions.hpp b/system/autoware_component_monitor/src/unit_conversions.hpp new file mode 100644 index 0000000000000..c8f3fa02da519 --- /dev/null +++ b/system/autoware_component_monitor/src/unit_conversions.hpp @@ -0,0 +1,68 @@ +// Copyright 2024 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UNIT_CONVERSIONS_HPP_ +#define UNIT_CONVERSIONS_HPP_ + +#include +#include + +namespace autoware::component_monitor::unit_conversions +{ +template +std::uint64_t kib_to_bytes(T kibibytes) +{ + static_assert(std::is_arithmetic::value, "Template parameter must be a numeric type"); + return static_cast(kibibytes * 1024); +} + +template +std::uint64_t mib_to_bytes(T mebibytes) +{ + static_assert(std::is_arithmetic::value, "Template parameter must be a numeric type"); + return static_cast(mebibytes * 1024 * 1024); +} + +template +std::uint64_t gib_to_bytes(T gibibytes) +{ + static_assert(std::is_arithmetic::value, "Template parameter must be a numeric type"); + return static_cast(gibibytes * 1024ULL * 1024ULL * 1024ULL); +} + +template +std::uint64_t tib_to_bytes(T tebibytes) +{ + static_assert(std::is_arithmetic::value, "Template parameter must be a numeric type"); + return static_cast(tebibytes * 1024ULL * 1024ULL * 1024ULL * 1024ULL); +} + +template +std::uint64_t pib_to_bytes(T pebibytes) +{ + static_assert(std::is_arithmetic::value, "Template parameter must be a numeric type"); + return static_cast(pebibytes * 1024ULL * 1024ULL * 1024ULL * 1024ULL * 1024ULL); +} + +template +std::uint64_t eib_to_bytes(T exbibytes) +{ + static_assert(std::is_arithmetic::value, "Template parameter must be a numeric type"); + return static_cast( + exbibytes * 1024ULL * 1024ULL * 1024ULL * 1024ULL * 1024ULL * 1024ULL); +} + +} // namespace autoware::component_monitor::unit_conversions + +#endif // UNIT_CONVERSIONS_HPP_ diff --git a/system/autoware_component_monitor/test/test_unit_conversions.cpp b/system/autoware_component_monitor/test/test_unit_conversions.cpp new file mode 100644 index 0000000000000..e8104ff31b80e --- /dev/null +++ b/system/autoware_component_monitor/test/test_unit_conversions.cpp @@ -0,0 +1,57 @@ +// Copyright 2024 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "unit_conversions.hpp" + +#include + +namespace autoware::component_monitor::unit_conversions +{ +TEST(UnitConversions, kib_to_bytes) +{ + EXPECT_EQ(kib_to_bytes(1), 1024U); + EXPECT_EQ(kib_to_bytes(0), 0U); + EXPECT_EQ(kib_to_bytes(10), 10240U); +} +TEST(UnitConversions, mib_to_bytes) +{ + EXPECT_EQ(mib_to_bytes(1), 1048576U); + EXPECT_EQ(mib_to_bytes(0), 0U); + EXPECT_EQ(mib_to_bytes(10), 10485760U); +} +TEST(UnitConversions, gib_to_bytes) +{ + EXPECT_EQ(gib_to_bytes(1), 1073741824U); + EXPECT_EQ(gib_to_bytes(0), 0U); + EXPECT_EQ(gib_to_bytes(10), 10737418240U); +} +TEST(UnitConversions, tib_to_bytes) +{ + EXPECT_EQ(tib_to_bytes(1), 1099511627776U); + EXPECT_EQ(tib_to_bytes(0), 0U); + EXPECT_EQ(tib_to_bytes(10), 10995116277760U); +} +TEST(UnitConversions, pib_to_bytes) +{ + EXPECT_EQ(pib_to_bytes(1), 1125899906842624U); + EXPECT_EQ(pib_to_bytes(0), 0U); + EXPECT_EQ(pib_to_bytes(10), 11258999068426240U); +} +TEST(UnitConversions, eib_to_bytes) +{ + EXPECT_EQ(eib_to_bytes(1), 1152921504606846976U); + EXPECT_EQ(eib_to_bytes(0), 0U); + EXPECT_EQ(eib_to_bytes(10), 11529215046068469760U); +} +} // namespace autoware::component_monitor::unit_conversions From d6fca861430378fedb43dc45da0d2624f5cfaa6f Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Fri, 12 Jul 2024 17:03:09 +0000 Subject: [PATCH 174/306] chore: update CODEOWNERS (#7926) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 45 +++++++++++++++++++++++---------------------- 1 file changed, 23 insertions(+), 22 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 48e4a9921bb9b..a59a5d9ac224e 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -25,7 +25,7 @@ common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.sa common/object_recognition_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/path_distance_calculator/** isamu.takagi@tier4.jp -common/perception_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp +common/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp common/polar_grid/** yukihiro.saito@tier4.jp common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @@ -45,7 +45,7 @@ common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomo common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp -control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp kyoichi.sugahara@tier4.jp +control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @@ -63,6 +63,7 @@ control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4 control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp +evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @@ -70,9 +71,9 @@ evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4. evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp -launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -launch/tier4_map_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +launch/tier4_localization_launch/** 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 +launch/tier4_map_launch/** 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 +launch/tier4_perception_launch/** shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp zulfaqar.azmi@tier4.jp launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp launch/tier4_simulator_launch/** keisuke.shima@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @@ -81,30 +82,36 @@ launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** 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 localization/autoware_landmark_based_localizer/autoware_landmark_manager/** 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 localization/autoware_pose_covariance_modifier/** melike@leodrive.ai -localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp -localization/geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/autoware_stop_filter/** 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 +localization/ekf_localizer/** 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 takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp +localization/geo_pose_projector/** 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 localization/gyro_odometer/** 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 -localization/localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/localization_error_monitor/** 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 localization/localization_util/** 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 -localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/ndt_scan_matcher/** 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 localization/pose2twist/** 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 localization/pose_estimator_arbiter/** 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 localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@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 localization/pose_instability_detector/** 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 -localization/twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/twist2accel/** 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 localization/yabloc/yabloc_common/** 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 localization/yabloc/yabloc_image_processing/** 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 -localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/yabloc/yabloc_monitor/** 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 localization/yabloc/yabloc_particle_filter/** 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 localization/yabloc/yabloc_pose_initializer/** 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 map/map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@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 -map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -map/map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/map_loader/** 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 +map/map_projection_loader/** 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 map/map_tf_generator/** 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 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_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 +perception/autoware_radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp +perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp +perception/autoware_radar_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp @@ -122,14 +129,8 @@ 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/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/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/autoware_radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -perception/autoware_radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -perception/autoware_radar_object_tracker/** satoshi.tanaka@tier4.jp taekjin.lee@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 perception/raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -200,10 +201,10 @@ planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4. planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp -sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +sensing/gnss_poser/** 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 sensing/image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp sensing/image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp -sensing/imu_corrector/** koji.minoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +sensing/imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp david.wong@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp melike@leodrive.ai shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp From 4f3013fda7fd8287ba607d76cf06de1f5cc8e44f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 13 Jul 2024 14:27:11 +0900 Subject: [PATCH 175/306] feat(velocity_smoother): add time_keeper (#8026) Signed-off-by: Takayuki Murooka --- .../autoware/velocity_smoother/node.hpp | 5 +++ .../analytical_jerk_constrained_smoother.hpp | 6 +++- .../smoother/jerk_filtered_smoother.hpp | 5 ++- .../smoother/l2_pseudo_jerk_smoother.hpp | 5 ++- .../smoother/linf_pseudo_jerk_smoother.hpp | 5 ++- .../smoother/smoother_base.hpp | 6 +++- .../autoware_velocity_smoother/src/node.cpp | 35 ++++++++++++++++--- .../analytical_jerk_constrained_smoother.cpp | 5 +-- .../src/smoother/jerk_filtered_smoother.cpp | 20 ++++++++++- .../src/smoother/l2_pseudo_jerk_smoother.cpp | 4 ++- .../smoother/linf_pseudo_jerk_smoother.cpp | 4 ++- .../src/smoother/smoother_base.cpp | 8 ++++- 12 files changed, 93 insertions(+), 15 deletions(-) diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp index 0dd18615be5ef..26918cce24549 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp @@ -23,6 +23,7 @@ #include "autoware/universe_utils/ros/polling_subscriber.hpp" #include "autoware/universe_utils/ros/self_pose_listener.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" +#include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware/velocity_smoother/resample.hpp" #include "autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp" #include "autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp" @@ -260,6 +261,8 @@ class VelocitySmootherNode : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_closest_jerk_; rclcpp::Publisher::SharedPtr debug_calculation_time_; rclcpp::Publisher::SharedPtr debug_closest_max_velocity_; + rclcpp::Publisher::SharedPtr + debug_processing_time_detail_; // For Jerk Filtered Algorithm Debug rclcpp::Publisher::SharedPtr pub_forward_filtered_trajectory_; @@ -275,6 +278,8 @@ class VelocitySmootherNode : public rclcpp::Node std::unique_ptr logger_configure_; std::unique_ptr published_time_publisher_; + + mutable std::shared_ptr time_keeper_{nullptr}; }; } // namespace autoware::velocity_smoother diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp index 42d5a520c9e44..bbc3828bb1b15 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp @@ -16,6 +16,7 @@ #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__ANALYTICAL_JERK_CONSTRAINED_SMOOTHER__ANALYTICAL_JERK_CONSTRAINED_SMOOTHER_HPP_ // NOLINT #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.hpp" #include "autoware/velocity_smoother/smoother/smoother_base.hpp" #include "rclcpp/rclcpp.hpp" @@ -24,6 +25,7 @@ #include "autoware_planning_msgs/msg/trajectory_point.hpp" #include "geometry_msgs/msg/pose.hpp" +#include #include #include #include @@ -65,7 +67,9 @@ class AnalyticalJerkConstrainedSmoother : public SmootherBase } backward; }; - explicit AnalyticalJerkConstrainedSmoother(rclcpp::Node & node); + explicit AnalyticalJerkConstrainedSmoother( + rclcpp::Node & node, const std::shared_ptr time_keeper = + std::make_shared()); bool apply( const double initial_vel, const double initial_acc, const TrajectoryPoints & input, diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp index 14d0d8ab7ff84..06a6f2da7f30a 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp @@ -17,6 +17,7 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware/velocity_smoother/smoother/smoother_base.hpp" #include "osqp_interface/osqp_interface.hpp" @@ -24,6 +25,7 @@ #include "boost/optional.hpp" +#include #include namespace autoware::velocity_smoother @@ -40,7 +42,8 @@ class JerkFilteredSmoother : public SmootherBase double jerk_filter_ds; }; - explicit JerkFilteredSmoother(rclcpp::Node & node); + explicit JerkFilteredSmoother( + rclcpp::Node & node, const std::shared_ptr time_keeper); bool apply( const double initial_vel, const double initial_acc, const TrajectoryPoints & input, diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp index 1e2918d8e313b..a2a07ec6909aa 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp @@ -17,6 +17,7 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware/velocity_smoother/smoother/smoother_base.hpp" #include "osqp_interface/osqp_interface.hpp" @@ -24,6 +25,7 @@ #include "boost/optional.hpp" +#include #include namespace autoware::velocity_smoother @@ -38,7 +40,8 @@ class L2PseudoJerkSmoother : public SmootherBase double over_a_weight; }; - explicit L2PseudoJerkSmoother(rclcpp::Node & node); + explicit L2PseudoJerkSmoother( + rclcpp::Node & node, const std::shared_ptr time_keeper); bool apply( const double initial_vel, const double initial_acc, const TrajectoryPoints & input, diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp index b88cd26eb4467..7c46a53431608 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp @@ -17,6 +17,7 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware/velocity_smoother/smoother/smoother_base.hpp" #include "osqp_interface/osqp_interface.hpp" @@ -24,6 +25,7 @@ #include "boost/optional.hpp" +#include #include namespace autoware::velocity_smoother @@ -38,7 +40,8 @@ class LinfPseudoJerkSmoother : public SmootherBase double over_a_weight; }; - explicit LinfPseudoJerkSmoother(rclcpp::Node & node); + explicit LinfPseudoJerkSmoother( + rclcpp::Node & node, const std::shared_ptr time_keeper); bool apply( const double initial_vel, const double initial_acc, const TrajectoryPoints & input, diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp index be7baf694d361..6671eaa3eabe7 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp @@ -15,12 +15,14 @@ #ifndef AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__SMOOTHER_BASE_HPP_ #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__SMOOTHER_BASE_HPP_ +#include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware/velocity_smoother/resample.hpp" #include "rclcpp/rclcpp.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" #include +#include #include namespace autoware::velocity_smoother @@ -54,7 +56,8 @@ class SmootherBase resampling::ResampleParam resample_param; }; - explicit SmootherBase(rclcpp::Node & node); + explicit SmootherBase( + rclcpp::Node & node, const std::shared_ptr time_keeper); virtual ~SmootherBase() = default; virtual bool apply( const double initial_vel, const double initial_acc, const TrajectoryPoints & input, @@ -85,6 +88,7 @@ class SmootherBase protected: BaseParam base_param_; + mutable std::shared_ptr time_keeper_{nullptr}; }; } // namespace autoware::velocity_smoother diff --git a/planning/autoware_velocity_smoother/src/node.cpp b/planning/autoware_velocity_smoother/src/node.cpp index b881b68798cdc..ca7526e9adf3b 100644 --- a/planning/autoware_velocity_smoother/src/node.cpp +++ b/planning/autoware_velocity_smoother/src/node.cpp @@ -46,6 +46,13 @@ VelocitySmootherNode::VelocitySmootherNode(const rclcpp::NodeOptions & node_opti initCommonParam(); over_stop_velocity_warn_thr_ = declare_parameter("over_stop_velocity_warn_thr"); + // create time_keeper and its publisher + // NOTE: This has to be called before setupSmoother to pass the time_keeper to the smoother. + debug_processing_time_detail_ = create_publisher( + "~/debug/processing_time_detail_ms", 1); + time_keeper_ = + std::make_shared(debug_processing_time_detail_); + // create smoother setupSmoother(wheelbase_); @@ -99,7 +106,7 @@ void VelocitySmootherNode::setupSmoother(const double wheelbase) { switch (node_param_.algorithm_type) { case AlgorithmType::JERK_FILTERED: { - smoother_ = std::make_shared(*this); + smoother_ = std::make_shared(*this, time_keeper_); // Set Publisher for jerk filtered algorithm pub_forward_filtered_trajectory_ = @@ -113,15 +120,15 @@ void VelocitySmootherNode::setupSmoother(const double wheelbase) break; } case AlgorithmType::L2: { - smoother_ = std::make_shared(*this); + smoother_ = std::make_shared(*this, time_keeper_); break; } case AlgorithmType::LINF: { - smoother_ = std::make_shared(*this); + smoother_ = std::make_shared(*this, time_keeper_); break; } case AlgorithmType::ANALYTICAL: { - smoother_ = std::make_shared(*this); + smoother_ = std::make_shared(*this, time_keeper_); break; } default: @@ -309,6 +316,8 @@ void VelocitySmootherNode::publishTrajectory(const TrajectoryPoints & trajectory void VelocitySmootherNode::calcExternalVelocityLimit() { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + if (!external_velocity_limit_ptr_) { return; } @@ -414,6 +423,8 @@ bool VelocitySmootherNode::checkData() const void VelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr msg) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + RCLCPP_DEBUG(get_logger(), "========================= run start ========================="); stop_watch_.tic(); @@ -502,6 +513,8 @@ void VelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr void VelocitySmootherNode::updateDataForExternalVelocityLimit() { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + if (prev_output_.empty()) { return; } @@ -519,6 +532,8 @@ void VelocitySmootherNode::updateDataForExternalVelocityLimit() TrajectoryPoints VelocitySmootherNode::calcTrajectoryVelocity( const TrajectoryPoints & traj_input) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + TrajectoryPoints output{}; // velocity is optimized by qp solver // Extract trajectory around self-position with desired forward-backward length @@ -566,6 +581,8 @@ bool VelocitySmootherNode::smoothVelocity( const TrajectoryPoints & input, const size_t input_closest, TrajectoryPoints & traj_smoothed) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + if (input.empty()) { return false; // cannot apply smoothing } @@ -672,6 +689,8 @@ bool VelocitySmootherNode::smoothVelocity( void VelocitySmootherNode::insertBehindVelocity( const size_t output_closest, const InitializeType type, TrajectoryPoints & output) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + const bool keep_closest_vel_for_behind = (type == InitializeType::EGO_VELOCITY || type == InitializeType::LARGE_DEVIATION_REPLAN || type == InitializeType::ENGAGING); @@ -734,6 +753,8 @@ void VelocitySmootherNode::publishStopDistance(const TrajectoryPoints & trajecto std::pair VelocitySmootherNode::calcInitialMotion( const TrajectoryPoints & input_traj, const size_t input_closest) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + const double vehicle_speed = std::fabs(current_odometry_ptr_->twist.twist.linear.x); const double vehicle_acceleration = current_acceleration_ptr_->accel.accel.linear.x; const double target_vel = std::fabs(input_traj.at(input_closest).longitudinal_velocity_mps); @@ -817,6 +838,8 @@ std::pair VelocitySmootherNode::ca void VelocitySmootherNode::overwriteStopPoint( const TrajectoryPoints & input, TrajectoryPoints & output) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + const auto stop_idx = autoware::motion_utils::searchZeroVelocityIndex(input); if (!stop_idx) { return; @@ -863,6 +886,8 @@ void VelocitySmootherNode::overwriteStopPoint( void VelocitySmootherNode::applyExternalVelocityLimit(TrajectoryPoints & traj) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + if (traj.size() < 1) { return; } @@ -902,6 +927,8 @@ void VelocitySmootherNode::applyExternalVelocityLimit(TrajectoryPoints & traj) c void VelocitySmootherNode::applyStopApproachingVelocity(TrajectoryPoints & traj) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + const auto stop_idx = autoware::motion_utils::searchZeroVelocityIndex(traj); if (!stop_idx) { return; // no stop point. diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp index 7f263fdea5e36..3906222454d35 100644 --- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp @@ -66,8 +66,9 @@ bool applyMaxVelocity( namespace autoware::velocity_smoother { -AnalyticalJerkConstrainedSmoother::AnalyticalJerkConstrainedSmoother(rclcpp::Node & node) -: SmootherBase(node) +AnalyticalJerkConstrainedSmoother::AnalyticalJerkConstrainedSmoother( + rclcpp::Node & node, const std::shared_ptr time_keeper) +: SmootherBase(node, time_keeper) { auto & p = smoother_param_; p.resample.ds_resample = node.declare_parameter("resample.ds_resample"); diff --git a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp index cab8e49a3b45d..d458c688d060c 100644 --- a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp @@ -29,7 +29,9 @@ namespace autoware::velocity_smoother { -JerkFilteredSmoother::JerkFilteredSmoother(rclcpp::Node & node) : SmootherBase(node) +JerkFilteredSmoother::JerkFilteredSmoother( + rclcpp::Node & node, const std::shared_ptr time_keeper) +: SmootherBase(node, time_keeper) { auto & p = smoother_param_; p.jerk_weight = node.declare_parameter("jerk_weight"); @@ -59,6 +61,8 @@ bool JerkFilteredSmoother::apply( const double v0, const double a0, const TrajectoryPoints & input, TrajectoryPoints & output, std::vector & debug_trajectories) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + output = input; if (input.empty()) { @@ -102,6 +106,8 @@ bool JerkFilteredSmoother::apply( const auto initial_traj_pose = filtered.front().pose; const auto resample = [&](const auto & trajectory) { + autoware::universe_utils::ScopedTimeTrack st("resample", *time_keeper_); + return resampling::resampleTrajectory( trajectory, v0, initial_traj_pose, std::numeric_limits::max(), std::numeric_limits::max(), base_param_.resample_param); @@ -152,6 +158,7 @@ bool JerkFilteredSmoother::apply( v_max_arr.at(i) = opt_resampled_trajectory.at(i).longitudinal_velocity_mps; } + time_keeper_->start_track("initOptimization"); /* * x = [ * b[0], b[1], ..., b[N], : 0~N @@ -290,9 +297,12 @@ bool JerkFilteredSmoother::apply( lower_bound[constr_idx] = a0; ++constr_idx; } + time_keeper_->end_track("initOptimization"); // execute optimization + time_keeper_->start_track("optimize"); const auto result = qp_solver_.optimize(P, A, q, lower_bound, upper_bound); + time_keeper_->end_track("optimize"); const std::vector optval = std::get<0>(result); const int status_val = std::get<3>(result); if (status_val != 1) { @@ -356,6 +366,8 @@ TrajectoryPoints JerkFilteredSmoother::forwardJerkFilter( const double v0, const double a0, const double a_max, const double a_start, const double j_max, const TrajectoryPoints & input) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + auto applyLimits = [&input, &a_start](double & v, double & a, size_t i) { double v_lim = input.at(i).longitudinal_velocity_mps; static constexpr double ep = 1.0e-5; @@ -408,6 +420,8 @@ TrajectoryPoints JerkFilteredSmoother::backwardJerkFilter( const double v0, const double a0, const double a_min, const double a_stop, const double j_min, const TrajectoryPoints & input) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + auto input_rev = input; std::reverse(input_rev.begin(), input_rev.end()); auto filtered = forwardJerkFilter( @@ -423,6 +437,8 @@ TrajectoryPoints JerkFilteredSmoother::mergeFilteredTrajectory( const double v0, const double a0, const double a_min, const double j_min, const TrajectoryPoints & forward_filtered, const TrajectoryPoints & backward_filtered) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + TrajectoryPoints merged; merged = forward_filtered; @@ -475,6 +491,8 @@ TrajectoryPoints JerkFilteredSmoother::resampleTrajectory( const geometry_msgs::msg::Pose & current_pose, const double nearest_dist_threshold, const double nearest_yaw_threshold) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + return resampling::resampleTrajectory( input, current_pose, nearest_dist_threshold, nearest_yaw_threshold, base_param_.resample_param, smoother_param_.jerk_filter_ds); diff --git a/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp index b489c994b0495..f379b217187c9 100644 --- a/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp @@ -25,7 +25,9 @@ namespace autoware::velocity_smoother { -L2PseudoJerkSmoother::L2PseudoJerkSmoother(rclcpp::Node & node) : SmootherBase(node) +L2PseudoJerkSmoother::L2PseudoJerkSmoother( + rclcpp::Node & node, const std::shared_ptr time_keeper) +: SmootherBase(node, time_keeper) { auto & p = smoother_param_; p.pseudo_jerk_weight = node.declare_parameter("pseudo_jerk_weight"); diff --git a/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp index cb8451dba8302..2ab3d6dd80dfc 100644 --- a/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp @@ -25,7 +25,9 @@ namespace autoware::velocity_smoother { -LinfPseudoJerkSmoother::LinfPseudoJerkSmoother(rclcpp::Node & node) : SmootherBase(node) +LinfPseudoJerkSmoother::LinfPseudoJerkSmoother( + rclcpp::Node & node, const std::shared_ptr time_keeper) +: SmootherBase(node, time_keeper) { auto & p = smoother_param_; p.pseudo_jerk_weight = node.declare_parameter("pseudo_jerk_weight"); diff --git a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp index 700cf45b7eb9d..46faf10fe4a62 100644 --- a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp @@ -60,7 +60,9 @@ TrajectoryPoints applyPreProcess( } } // namespace -SmootherBase::SmootherBase(rclcpp::Node & node) +SmootherBase::SmootherBase( + rclcpp::Node & node, const std::shared_ptr time_keeper) +: time_keeper_(time_keeper) { auto & p = base_param_; p.max_accel = node.declare_parameter("normal.max_acc"); @@ -130,6 +132,8 @@ TrajectoryPoints SmootherBase::applyLateralAccelerationFilter( [[maybe_unused]] const double a0, [[maybe_unused]] const bool enable_smooth_limit, const bool use_resampling, const double input_points_interval) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + if (input.size() < 3) { return input; // cannot calculate lateral acc. do nothing. } @@ -198,6 +202,8 @@ TrajectoryPoints SmootherBase::applySteeringRateLimit( const TrajectoryPoints & input, const bool use_resampling, const double input_points_interval) const { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + if (input.size() < 3) { return input; // cannot calculate the desired velocity. do nothing. } From ea5c06cedb49ae2887ddce9e5223539b1f1235bc Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 13 Jul 2024 14:56:46 +0900 Subject: [PATCH 176/306] refactor(qp_interface): clean up the code (#8029) * refactor qp_interface Signed-off-by: Takayuki Murooka * variable names: m_XXX -> XXX_ Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../qp_interface/osqp_csc_matrix_conv.hpp | 10 +- .../include/qp_interface/osqp_interface.hpp | 42 ++-- .../include/qp_interface/proxqp_interface.hpp | 18 +- .../include/qp_interface/qp_interface.hpp | 18 +- .../qp_interface/src/osqp_csc_matrix_conv.cpp | 10 +- common/qp_interface/src/osqp_interface.cpp | 236 +++++++++--------- common/qp_interface/src/proxqp_interface.cpp | 84 +++++-- common/qp_interface/src/qp_interface.cpp | 8 +- .../test/test_csc_matrix_conv.cpp | 210 ++++++++-------- .../qp_interface/test/test_osqp_interface.cpp | 64 ++--- .../test/test_proxqp_interface.cpp | 21 +- 11 files changed, 377 insertions(+), 344 deletions(-) diff --git a/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp b/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp index 74ec4c1282f46..8ec7280cfc100 100644 --- a/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp +++ b/common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp @@ -21,17 +21,17 @@ #include -namespace qp +namespace autoware::common { /// \brief Compressed-Column-Sparse Matrix struct CSC_Matrix { /// Vector of non-zero values. Ex: [4,1,1,2] - std::vector m_vals; + std::vector vals_; /// Vector of row index corresponding to values. Ex: [0, 1, 0, 1] (Eigen: 'inner') - std::vector m_row_idxs; + std::vector row_idxs_; /// Vector of 'val' indices where each column starts. Ex: [0, 2, 4] (Eigen: 'outer') - std::vector m_col_idxs; + std::vector col_idxs_; }; /// \brief Calculate CSC matrix from Eigen matrix @@ -41,6 +41,6 @@ CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat); /// \brief Print the given CSC matrix to the standard output void printCSCMatrix(const CSC_Matrix & csc_mat); -} // namespace qp +} // namespace autoware::common #endif // QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_ diff --git a/common/qp_interface/include/qp_interface/osqp_interface.hpp b/common/qp_interface/include/qp_interface/osqp_interface.hpp index ef2c3bd17c89e..14c03a91d8fa1 100644 --- a/common/qp_interface/include/qp_interface/osqp_interface.hpp +++ b/common/qp_interface/include/qp_interface/osqp_interface.hpp @@ -24,9 +24,9 @@ #include #include -namespace qp +namespace autoware::common { -constexpr c_float INF = 1e30; +constexpr c_float OSQP_INF = 1e30; class OSQPInterface : public QPInterface { @@ -34,7 +34,9 @@ class OSQPInterface : public QPInterface /// \brief Constructor without problem formulation OSQPInterface( const bool enable_warm_start = false, - const c_float eps_abs = std::numeric_limits::epsilon(), const bool polish = true); + const c_float eps_abs = std::numeric_limits::epsilon(), + const c_float eps_rel = std::numeric_limits::epsilon(), const bool polish = true, + const bool verbose = false); /// \brief Constructor with problem setup /// \param P: (n,n) matrix defining relations between parameters. /// \param A: (m,n) matrix defining parameter constraints relative to the lower and upper bound. @@ -60,8 +62,10 @@ class OSQPInterface : public QPInterface CSC_Matrix P, CSC_Matrix A, const std::vector & q, const std::vector & l, const std::vector & u); - int getIteration() const override; - int getStatus() const override; + int getIterationNumber() const override; + bool isSolved() const override; + std::string getStatus() const override; + int getPolishStatus() const; std::vector getDualSolution() const; @@ -96,20 +100,18 @@ class OSQPInterface : public QPInterface void updateCheckTermination(const int check_termination); /// \brief Get the number of iteration taken to solve the problem - inline int64_t getTakenIter() const { return static_cast(m_latest_work_info.iter); } + inline int64_t getTakenIter() const { return static_cast(latest_work_info_.iter); } /// \brief Get the status message for the latest problem solved inline std::string getStatusMessage() const { - return static_cast(m_latest_work_info.status); + return static_cast(latest_work_info_.status); } /// \brief Get the runtime of the latest problem solved - inline double getRunTime() const { return m_latest_work_info.run_time; } + inline double getRunTime() const { return latest_work_info_.run_time; } /// \brief Get the objective value the latest problem solved - inline double getObjVal() const { return m_latest_work_info.obj_val; } + inline double getObjVal() const { return latest_work_info_.obj_val; } /// \brief Returns flag asserting interface condition (Healthy condition: 0). - inline int64_t getExitFlag() const { return m_exitflag; } - - void logUnsolvedStatus(const std::string & prefix_message = "") const; + inline int64_t getExitFlag() const { return exitflag_; } // Setter functions for warm start bool setWarmStart( @@ -118,17 +120,17 @@ class OSQPInterface : public QPInterface bool setDualVariables(const std::vector & dual_variables); private: - std::unique_ptr> m_work; - std::unique_ptr m_settings; - std::unique_ptr m_data; + std::unique_ptr> work_; + std::unique_ptr settings_; + std::unique_ptr data_; // store last work info since work is cleaned up at every execution to prevent memory leak. - OSQPInfo m_latest_work_info; + OSQPInfo latest_work_info_; // Number of parameters to optimize - int64_t m_param_n; + int64_t param_n_; // Flag to check if the current work exists - bool m_work_initialized = false; + bool work__initialized = false; // Exitflag - int64_t m_exitflag; + int64_t exitflag_; void initializeProblemImpl( const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector & q, @@ -140,6 +142,6 @@ class OSQPInterface : public QPInterface std::vector optimizeImpl() override; }; -} // namespace qp +} // namespace autoware::common #endif // QP_INTERFACE__OSQP_INTERFACE_HPP_ diff --git a/common/qp_interface/include/qp_interface/proxqp_interface.hpp b/common/qp_interface/include/qp_interface/proxqp_interface.hpp index a940262d5f6da..f75fb3da5954c 100644 --- a/common/qp_interface/include/qp_interface/proxqp_interface.hpp +++ b/common/qp_interface/include/qp_interface/proxqp_interface.hpp @@ -22,27 +22,29 @@ #include #include +#include #include -namespace qp +namespace autoware::common { class ProxQPInterface : public QPInterface { public: explicit ProxQPInterface( - const bool enable_warm_start = false, - const double eps_abs = std::numeric_limits::epsilon()); + const bool enable_warm_start, const double eps_abs, const double eps_rel, + const bool verbose = false); - int getIteration() const override; - int getStatus() const override; + int getIterationNumber() const override; + bool isSolved() const override; + std::string getStatus() const override; void updateEpsAbs(const double eps_abs) override; void updateEpsRel(const double eps_rel) override; void updateVerbose(const bool verbose) override; private: - proxsuite::proxqp::Settings m_settings; - std::shared_ptr> m_qp_ptr; + proxsuite::proxqp::Settings settings_{}; + std::shared_ptr> qp_ptr_{nullptr}; void initializeProblemImpl( const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector & q, @@ -50,6 +52,6 @@ class ProxQPInterface : public QPInterface std::vector optimizeImpl() override; }; -} // namespace qp +} // namespace autoware::common #endif // QP_INTERFACE__PROXQP_INTERFACE_HPP_ diff --git a/common/qp_interface/include/qp_interface/qp_interface.hpp b/common/qp_interface/include/qp_interface/qp_interface.hpp index 026c0fe413b71..85e2d103cde7a 100644 --- a/common/qp_interface/include/qp_interface/qp_interface.hpp +++ b/common/qp_interface/include/qp_interface/qp_interface.hpp @@ -18,28 +18,30 @@ #include #include +#include #include -namespace qp +namespace autoware::common { class QPInterface { public: - explicit QPInterface(const bool enable_warm_start) : m_enable_warm_start(enable_warm_start) {} + explicit QPInterface(const bool enable_warm_start) : enable_warm_start_(enable_warm_start) {} std::vector optimize( const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector & q, const std::vector & l, const std::vector & u); - virtual int getIteration() const = 0; - virtual int getStatus() const = 0; + virtual bool isSolved() const = 0; + virtual int getIterationNumber() const = 0; + virtual std::string getStatus() const = 0; virtual void updateEpsAbs([[maybe_unused]] const double eps_abs) = 0; virtual void updateEpsRel([[maybe_unused]] const double eps_rel) = 0; virtual void updateVerbose([[maybe_unused]] const bool verbose) {} protected: - bool m_enable_warm_start; + bool enable_warm_start_{false}; void initializeProblem( const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector & q, @@ -51,9 +53,9 @@ class QPInterface virtual std::vector optimizeImpl() = 0; - std::optional m_variables_num; - std::optional m_constraints_num; + std::optional variables_num_{std::nullopt}; + std::optional constraints_num_{std::nullopt}; }; -} // namespace qp +} // namespace autoware::common #endif // QP_INTERFACE__QP_INTERFACE_HPP_ diff --git a/common/qp_interface/src/osqp_csc_matrix_conv.cpp b/common/qp_interface/src/osqp_csc_matrix_conv.cpp index 0faf7586463fd..77a481f442000 100644 --- a/common/qp_interface/src/osqp_csc_matrix_conv.cpp +++ b/common/qp_interface/src/osqp_csc_matrix_conv.cpp @@ -21,7 +21,7 @@ #include #include -namespace qp +namespace autoware::common { CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) { @@ -114,21 +114,21 @@ CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat) void printCSCMatrix(const CSC_Matrix & csc_mat) { std::cout << "["; - for (const c_float & val : csc_mat.m_vals) { + for (const c_float & val : csc_mat.vals_) { std::cout << val << ", "; } std::cout << "]\n"; std::cout << "["; - for (const c_int & row : csc_mat.m_row_idxs) { + for (const c_int & row : csc_mat.row_idxs_) { std::cout << row << ", "; } std::cout << "]\n"; std::cout << "["; - for (const c_int & col : csc_mat.m_col_idxs) { + for (const c_int & col : csc_mat.col_idxs_) { std::cout << col << ", "; } std::cout << "]\n"; } -} // namespace qp +} // namespace autoware::common diff --git a/common/qp_interface/src/osqp_interface.cpp b/common/qp_interface/src/osqp_interface.cpp index 81d2ffeeaaed5..0e8cb7e13988a 100644 --- a/common/qp_interface/src/osqp_interface.cpp +++ b/common/qp_interface/src/osqp_interface.cpp @@ -18,27 +18,29 @@ #include -namespace qp -{ -OSQPInterface::OSQPInterface(const bool enable_warm_start, const c_float eps_abs, const bool polish) -: QPInterface(enable_warm_start), m_work{nullptr, OSQPWorkspaceDeleter} -{ - m_settings = std::make_unique(); - m_data = std::make_unique(); - - if (m_settings) { - osqp_set_default_settings(m_settings.get()); - m_settings->alpha = 1.6; // Change alpha parameter - m_settings->eps_rel = 1.0E-4; - m_settings->eps_abs = eps_abs; - m_settings->eps_prim_inf = 1.0E-4; - m_settings->eps_dual_inf = 1.0E-4; - m_settings->warm_start = true; - m_settings->max_iter = 4000; - m_settings->verbose = false; - m_settings->polish = polish; +namespace autoware::common +{ +OSQPInterface::OSQPInterface( + const bool enable_warm_start, const c_float eps_abs, const c_float eps_rel, const bool polish, + const bool verbose) +: QPInterface(enable_warm_start), work_{nullptr, OSQPWorkspaceDeleter} +{ + settings_ = std::make_unique(); + data_ = std::make_unique(); + + if (settings_) { + osqp_set_default_settings(settings_.get()); + settings_->alpha = 1.6; // Change alpha parameter + settings_->eps_rel = eps_rel; + settings_->eps_abs = eps_abs; + settings_->eps_prim_inf = 1.0E-4; + settings_->eps_dual_inf = 1.0E-4; + settings_->warm_start = true; + settings_->max_iter = 4000; + settings_->verbose = verbose; + settings_->polish = polish; } - m_exitflag = 0; + exitflag_ = 0; } OSQPInterface::OSQPInterface( @@ -61,8 +63,8 @@ OSQPInterface::OSQPInterface( OSQPInterface::~OSQPInterface() { - if (m_data->P) free(m_data->P); - if (m_data->A) free(m_data->A); + if (data_->P) free(data_->P); + if (data_->A) free(data_->A); } void OSQPInterface::initializeProblemImpl( @@ -89,30 +91,30 @@ void OSQPInterface::initializeCSCProblemImpl( /********************** * OBJECTIVE FUNCTION **********************/ - m_param_n = static_cast(q.size()); - m_data->m = static_cast(l.size()); + param_n_ = static_cast(q.size()); + data_->m = static_cast(l.size()); /***************** * POPULATE DATA *****************/ - m_data->n = m_param_n; - if (m_data->P) free(m_data->P); - m_data->P = csc_matrix( - m_data->n, m_data->n, static_cast(P_csc.m_vals.size()), P_csc.m_vals.data(), - P_csc.m_row_idxs.data(), P_csc.m_col_idxs.data()); - m_data->q = q_dyn; - if (m_data->A) free(m_data->A); - m_data->A = csc_matrix( - m_data->m, m_data->n, static_cast(A_csc.m_vals.size()), A_csc.m_vals.data(), - A_csc.m_row_idxs.data(), A_csc.m_col_idxs.data()); - m_data->l = l_dyn; - m_data->u = u_dyn; + data_->n = param_n_; + if (data_->P) free(data_->P); + data_->P = csc_matrix( + data_->n, data_->n, static_cast(P_csc.vals_.size()), P_csc.vals_.data(), + P_csc.row_idxs_.data(), P_csc.col_idxs_.data()); + data_->q = q_dyn; + if (data_->A) free(data_->A); + data_->A = csc_matrix( + data_->m, data_->n, static_cast(A_csc.vals_.size()), A_csc.vals_.data(), + A_csc.row_idxs_.data(), A_csc.col_idxs_.data()); + data_->l = l_dyn; + data_->u = u_dyn; // Setup workspace OSQPWorkspace * workspace; - m_exitflag = osqp_setup(&workspace, m_data.get(), m_settings.get()); - m_work.reset(workspace); - m_work_initialized = true; + exitflag_ = osqp_setup(&workspace, data_.get(), settings_.get()); + work_.reset(workspace); + work__initialized = true; } void OSQPInterface::OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept @@ -124,67 +126,67 @@ void OSQPInterface::OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept void OSQPInterface::updateEpsAbs(const double eps_abs) { - m_settings->eps_abs = eps_abs; // for default setting - if (m_work_initialized) { - osqp_update_eps_abs(m_work.get(), eps_abs); // for current work + settings_->eps_abs = eps_abs; // for default setting + if (work__initialized) { + osqp_update_eps_abs(work_.get(), eps_abs); // for current work } } void OSQPInterface::updateEpsRel(const double eps_rel) { - m_settings->eps_rel = eps_rel; // for default setting - if (m_work_initialized) { - osqp_update_eps_rel(m_work.get(), eps_rel); // for current work + settings_->eps_rel = eps_rel; // for default setting + if (work__initialized) { + osqp_update_eps_rel(work_.get(), eps_rel); // for current work } } void OSQPInterface::updateMaxIter(const int max_iter) { - m_settings->max_iter = max_iter; // for default setting - if (m_work_initialized) { - osqp_update_max_iter(m_work.get(), max_iter); // for current work + settings_->max_iter = max_iter; // for default setting + if (work__initialized) { + osqp_update_max_iter(work_.get(), max_iter); // for current work } } void OSQPInterface::updateVerbose(const bool is_verbose) { - m_settings->verbose = is_verbose; // for default setting - if (m_work_initialized) { - osqp_update_verbose(m_work.get(), is_verbose); // for current work + settings_->verbose = is_verbose; // for default setting + if (work__initialized) { + osqp_update_verbose(work_.get(), is_verbose); // for current work } } void OSQPInterface::updateRhoInterval(const int rho_interval) { - m_settings->adaptive_rho_interval = rho_interval; // for default setting + settings_->adaptive_rho_interval = rho_interval; // for default setting } void OSQPInterface::updateRho(const double rho) { - m_settings->rho = rho; - if (m_work_initialized) { - osqp_update_rho(m_work.get(), rho); + settings_->rho = rho; + if (work__initialized) { + osqp_update_rho(work_.get(), rho); } } void OSQPInterface::updateAlpha(const double alpha) { - m_settings->alpha = alpha; - if (m_work_initialized) { - osqp_update_alpha(m_work.get(), alpha); + settings_->alpha = alpha; + if (work__initialized) { + osqp_update_alpha(work_.get(), alpha); } } void OSQPInterface::updateScaling(const int scaling) { - m_settings->scaling = scaling; + settings_->scaling = scaling; } void OSQPInterface::updatePolish(const bool polish) { - m_settings->polish = polish; - if (m_work_initialized) { - osqp_update_polish(m_work.get(), polish); + settings_->polish = polish; + if (work__initialized) { + osqp_update_polish(work_.get(), polish); } } @@ -195,9 +197,9 @@ void OSQPInterface::updatePolishRefinementIteration(const int polish_refine_iter return; } - m_settings->polish_refine_iter = polish_refine_iter; - if (m_work_initialized) { - osqp_update_polish_refine_iter(m_work.get(), polish_refine_iter); + settings_->polish_refine_iter = polish_refine_iter; + if (work__initialized) { + osqp_update_polish_refine_iter(work_.get(), polish_refine_iter); } } @@ -208,9 +210,9 @@ void OSQPInterface::updateCheckTermination(const int check_termination) return; } - m_settings->check_termination = check_termination; - if (m_work_initialized) { - osqp_update_check_termination(m_work.get(), check_termination); + settings_->check_termination = check_termination; + if (work__initialized) { + osqp_update_check_termination(work_.get(), check_termination); } } @@ -222,11 +224,11 @@ bool OSQPInterface::setWarmStart( bool OSQPInterface::setPrimalVariables(const std::vector & primal_variables) { - if (!m_work_initialized) { + if (!work__initialized) { return false; } - const auto result = osqp_warm_start_x(m_work.get(), primal_variables.data()); + const auto result = osqp_warm_start_x(work_.get(), primal_variables.data()); if (result != 0) { std::cerr << "Failed to set primal variables for warm start" << std::endl; return false; @@ -237,11 +239,11 @@ bool OSQPInterface::setPrimalVariables(const std::vector & primal_variab bool OSQPInterface::setDualVariables(const std::vector & dual_variables) { - if (!m_work_initialized) { + if (!work__initialized) { return false; } - const auto result = osqp_warm_start_y(m_work.get(), dual_variables.data()); + const auto result = osqp_warm_start_y(work_.get(), dual_variables.data()); if (result != 0) { std::cerr << "Failed to set dual variables for warm start" << std::endl; return false; @@ -250,27 +252,6 @@ bool OSQPInterface::setDualVariables(const std::vector & dual_variables) return true; } -void OSQPInterface::logUnsolvedStatus(const std::string & prefix_message) const -{ - const int status = getStatus(); - if (status == 1) { - // No need to log since optimization was solved. - return; - } - - // create message - std::string output_message = ""; - if (prefix_message != "") { - output_message = prefix_message + " "; - } - - const auto status_message = getStatusMessage(); - output_message += "Optimization failed due to " + status_message; - - // log with warning - RCLCPP_WARN(rclcpp::get_logger("osqp_interface"), output_message.c_str()); -} - void OSQPInterface::updateP(const Eigen::MatrixXd & P_new) { /* @@ -283,14 +264,12 @@ void OSQPInterface::updateP(const Eigen::MatrixXd & P_new) c_int P_elem_N = P_sparse.nonZeros(); */ CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P_new); - osqp_update_P( - m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast(P_csc.m_vals.size())); + osqp_update_P(work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast(P_csc.vals_.size())); } void OSQPInterface::updateCscP(const CSC_Matrix & P_csc) { - osqp_update_P( - m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast(P_csc.m_vals.size())); + osqp_update_P(work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast(P_csc.vals_.size())); } void OSQPInterface::updateA(const Eigen::MatrixXd & A_new) @@ -303,36 +282,34 @@ void OSQPInterface::updateA(const Eigen::MatrixXd & A_new) c_int A_elem_N = A_sparse.nonZeros(); */ CSC_Matrix A_csc = calCSCMatrix(A_new); - osqp_update_A( - m_work.get(), A_csc.m_vals.data(), OSQP_NULL, static_cast(A_csc.m_vals.size())); + osqp_update_A(work_.get(), A_csc.vals_.data(), OSQP_NULL, static_cast(A_csc.vals_.size())); return; } void OSQPInterface::updateCscA(const CSC_Matrix & A_csc) { - osqp_update_A( - m_work.get(), A_csc.m_vals.data(), OSQP_NULL, static_cast(A_csc.m_vals.size())); + osqp_update_A(work_.get(), A_csc.vals_.data(), OSQP_NULL, static_cast(A_csc.vals_.size())); } void OSQPInterface::updateQ(const std::vector & q_new) { std::vector q_tmp(q_new.begin(), q_new.end()); double * q_dyn = q_tmp.data(); - osqp_update_lin_cost(m_work.get(), q_dyn); + osqp_update_lin_cost(work_.get(), q_dyn); } void OSQPInterface::updateL(const std::vector & l_new) { std::vector l_tmp(l_new.begin(), l_new.end()); double * l_dyn = l_tmp.data(); - osqp_update_lower_bound(m_work.get(), l_dyn); + osqp_update_lower_bound(work_.get(), l_dyn); } void OSQPInterface::updateU(const std::vector & u_new) { std::vector u_tmp(u_new.begin(), u_new.end()); double * u_dyn = u_tmp.data(); - osqp_update_upper_bound(m_work.get(), u_dyn); + osqp_update_upper_bound(work_.get(), u_dyn); } void OSQPInterface::updateBounds( @@ -342,45 +319,50 @@ void OSQPInterface::updateBounds( std::vector u_tmp(u_new.begin(), u_new.end()); double * l_dyn = l_tmp.data(); double * u_dyn = u_tmp.data(); - osqp_update_bounds(m_work.get(), l_dyn, u_dyn); + osqp_update_bounds(work_.get(), l_dyn, u_dyn); +} + +int OSQPInterface::getIterationNumber() const +{ + return work_->info->iter; } -int OSQPInterface::getIteration() const +std::string OSQPInterface::getStatus() const { - return m_work->info->iter; + return "OSQP_SOLVED"; } -int OSQPInterface::getStatus() const +bool OSQPInterface::isSolved() const { - return static_cast(m_latest_work_info.status_val); + return latest_work_info_.status_val == 1; } int OSQPInterface::getPolishStatus() const { - return static_cast(m_latest_work_info.status_polish); + return static_cast(latest_work_info_.status_polish); } std::vector OSQPInterface::getDualSolution() const { - double * sol_y = m_work->solution->y; - std::vector dual_solution(sol_y, sol_y + m_data->m); + double * sol_y = work_->solution->y; + std::vector dual_solution(sol_y, sol_y + data_->m); return dual_solution; } std::vector OSQPInterface::optimizeImpl() { - osqp_solve(m_work.get()); + osqp_solve(work_.get()); - double * sol_x = m_work->solution->x; - double * sol_y = m_work->solution->y; - std::vector sol_primal(sol_x, sol_x + m_param_n); - std::vector sol_lagrange_multiplier(sol_y, sol_y + m_data->m); + double * sol_x = work_->solution->x; + double * sol_y = work_->solution->y; + std::vector sol_primal(sol_x, sol_x + param_n_); + std::vector sol_lagrange_multiplier(sol_y, sol_y + data_->m); - m_latest_work_info = *(m_work->info); + latest_work_info_ = *(work_->info); - if (!m_enable_warm_start) { - m_work.reset(); - m_work_initialized = false; + if (!enable_warm_start_) { + work_.reset(); + work__initialized = false; } return sol_primal; @@ -393,7 +375,17 @@ std::vector OSQPInterface::optimize( initializeCSCProblemImpl(P, A, q, l, u); const auto result = optimizeImpl(); + // show polish status if not successful + const int status_polish = static_cast(latest_work_info_.status_polish); + if (status_polish != 1) { + const auto msg = status_polish == 0 ? "unperformed" + : status_polish == -1 ? "unsuccessful" + : "unknown"; + std::cerr << "osqp polish process failed : " << msg << ". The result may be inaccurate" + << std::endl; + } + return result; } -} // namespace qp +} // namespace autoware::common diff --git a/common/qp_interface/src/proxqp_interface.cpp b/common/qp_interface/src/proxqp_interface.cpp index bf1f0229e1e21..507f3858cbf1b 100644 --- a/common/qp_interface/src/proxqp_interface.cpp +++ b/common/qp_interface/src/proxqp_interface.cpp @@ -14,12 +14,17 @@ #include "qp_interface/proxqp_interface.hpp" -namespace qp +namespace autoware::common { -ProxQPInterface::ProxQPInterface(const bool enable_warm_start, const double eps_abs) +using proxsuite::proxqp::QPSolverOutput; + +ProxQPInterface::ProxQPInterface( + const bool enable_warm_start, const double eps_abs, const double eps_rel, const bool verbose) : QPInterface(enable_warm_start) { - m_settings.eps_abs = eps_abs; + settings_.eps_abs = eps_abs; + settings_.eps_rel = eps_rel; + settings_.verbose = verbose; } void ProxQPInterface::initializeProblemImpl( @@ -31,28 +36,28 @@ void ProxQPInterface::initializeProblemImpl( const bool enable_warm_start = [&]() { if ( - !m_enable_warm_start // Warm start is designated - || !m_qp_ptr // QP pointer is initialized + !enable_warm_start_ // Warm start is designated + || !qp_ptr_ // QP pointer is initialized // The number of variables is the same as the previous one. - || !m_variables_num || - *m_variables_num != variables_num + || !variables_num_ || + *variables_num_ != variables_num // The number of constraints is the same as the previous one - || !m_constraints_num || *m_constraints_num != constraints_num) { + || !constraints_num_ || *constraints_num_ != constraints_num) { return false; } return true; }(); if (!enable_warm_start) { - m_qp_ptr = std::make_shared>( + qp_ptr_ = std::make_shared>( variables_num, 0, constraints_num); } - m_settings.initial_guess = + settings_.initial_guess = enable_warm_start ? proxsuite::proxqp::InitialGuessStatus::WARM_START_WITH_PREVIOUS_RESULT : proxsuite::proxqp::InitialGuessStatus::NO_INITIAL_GUESS; - m_qp_ptr->settings = m_settings; + qp_ptr_->settings = settings_; Eigen::SparseMatrix P_sparse(variables_num, constraints_num); P_sparse = P.sparseView(); @@ -69,53 +74,78 @@ void ProxQPInterface::initializeProblemImpl( Eigen::Map(u_std_vec.data(), u_std_vec.size()); if (enable_warm_start) { - m_qp_ptr->update( + qp_ptr_->update( P_sparse, eigen_q, proxsuite::nullopt, proxsuite::nullopt, A.sparseView(), eigen_l, eigen_u); } else { - m_qp_ptr->init( + qp_ptr_->init( P_sparse, eigen_q, proxsuite::nullopt, proxsuite::nullopt, A.sparseView(), eigen_l, eigen_u); } } void ProxQPInterface::updateEpsAbs(const double eps_abs) { - m_settings.eps_abs = eps_abs; + settings_.eps_abs = eps_abs; } void ProxQPInterface::updateEpsRel(const double eps_rel) { - m_settings.eps_rel = eps_rel; + settings_.eps_rel = eps_rel; } void ProxQPInterface::updateVerbose(const bool is_verbose) { - m_settings.verbose = is_verbose; + settings_.verbose = is_verbose; } -int ProxQPInterface::getIteration() const +bool ProxQPInterface::isSolved() const { - if (m_qp_ptr) { - return m_qp_ptr->results.info.iter; + if (qp_ptr_) { + return qp_ptr_->results.info.status == QPSolverOutput::PROXQP_SOLVED; } - return 0; + return false; } -int ProxQPInterface::getStatus() const +int ProxQPInterface::getIterationNumber() const { - if (m_qp_ptr) { - return static_cast(m_qp_ptr->results.info.status); + if (qp_ptr_) { + return qp_ptr_->results.info.iter; } return 0; } +std::string ProxQPInterface::getStatus() const +{ + if (qp_ptr_) { + if (qp_ptr_->results.info.status == QPSolverOutput::PROXQP_SOLVED) { + return "PROXQP_SOLVED"; + } + if (qp_ptr_->results.info.status == QPSolverOutput::PROXQP_MAX_ITER_REACHED) { + return "PROXQP_MAX_ITER_REACHED"; + } + if (qp_ptr_->results.info.status == QPSolverOutput::PROXQP_PRIMAL_INFEASIBLE) { + return "PROXQP_PRIMAL_INFEASIBLE"; + } + // if (qp_ptr_->results.info.status == QPSolverOutput::PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE) { + // return "PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE"; + // } + if (qp_ptr_->results.info.status == QPSolverOutput::PROXQP_DUAL_INFEASIBLE) { + return "PROXQP_DUAL_INFEASIBLE"; + } + if (qp_ptr_->results.info.status == QPSolverOutput::PROXQP_NOT_RUN) { + return "PROXQP_NOT_RUN"; + } + } + return "None"; +} + std::vector ProxQPInterface::optimizeImpl() { - m_qp_ptr->solve(); + qp_ptr_->solve(); std::vector result; - for (Eigen::Index i = 0; i < m_qp_ptr->results.x.size(); ++i) { - result.push_back(m_qp_ptr->results.x[i]); + for (Eigen::Index i = 0; i < qp_ptr_->results.x.size(); ++i) { + result.push_back(qp_ptr_->results.x[i]); } return result; } -} // namespace qp +} // namespace autoware::common diff --git a/common/qp_interface/src/qp_interface.cpp b/common/qp_interface/src/qp_interface.cpp index e7a69bac0c67c..afd26132d7769 100644 --- a/common/qp_interface/src/qp_interface.cpp +++ b/common/qp_interface/src/qp_interface.cpp @@ -18,7 +18,7 @@ #include #include -namespace qp +namespace autoware::common { void QPInterface::initializeProblem( const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector & q, @@ -54,8 +54,8 @@ void QPInterface::initializeProblem( initializeProblemImpl(P, A, q, l, u); - m_variables_num = q.size(); - m_constraints_num = l.size(); + variables_num_ = q.size(); + constraints_num_ = l.size(); } std::vector QPInterface::optimize( @@ -67,4 +67,4 @@ std::vector QPInterface::optimize( return result; } -} // namespace qp +} // namespace autoware::common diff --git a/common/qp_interface/test/test_csc_matrix_conv.cpp b/common/qp_interface/test/test_csc_matrix_conv.cpp index fc604d762d2c4..a6bd5e3df0be1 100644 --- a/common/qp_interface/test/test_csc_matrix_conv.cpp +++ b/common/qp_interface/test/test_csc_matrix_conv.cpp @@ -23,42 +23,42 @@ TEST(TestCscMatrixConv, Nominal) { - using qp::calCSCMatrix; - using qp::CSC_Matrix; + using autoware::common::calCSCMatrix; + using autoware::common::CSC_Matrix; Eigen::MatrixXd rect1(1, 2); rect1 << 0.0, 1.0; const CSC_Matrix rect_m1 = calCSCMatrix(rect1); - ASSERT_EQ(rect_m1.m_vals.size(), size_t(1)); - EXPECT_EQ(rect_m1.m_vals[0], 1.0); - ASSERT_EQ(rect_m1.m_row_idxs.size(), size_t(1)); - EXPECT_EQ(rect_m1.m_row_idxs[0], c_int(0)); - ASSERT_EQ(rect_m1.m_col_idxs.size(), size_t(3)); // nb of columns + 1 - EXPECT_EQ(rect_m1.m_col_idxs[0], c_int(0)); - EXPECT_EQ(rect_m1.m_col_idxs[1], c_int(0)); - EXPECT_EQ(rect_m1.m_col_idxs[2], c_int(1)); + ASSERT_EQ(rect_m1.vals_.size(), size_t(1)); + EXPECT_EQ(rect_m1.vals_[0], 1.0); + ASSERT_EQ(rect_m1.row_idxs_.size(), size_t(1)); + EXPECT_EQ(rect_m1.row_idxs_[0], c_int(0)); + ASSERT_EQ(rect_m1.col_idxs_.size(), size_t(3)); // nb of columns + 1 + EXPECT_EQ(rect_m1.col_idxs_[0], c_int(0)); + EXPECT_EQ(rect_m1.col_idxs_[1], c_int(0)); + EXPECT_EQ(rect_m1.col_idxs_[2], c_int(1)); Eigen::MatrixXd rect2(2, 4); rect2 << 1.0, 0.0, 3.0, 0.0, 0.0, 6.0, 7.0, 0.0; const CSC_Matrix rect_m2 = calCSCMatrix(rect2); - ASSERT_EQ(rect_m2.m_vals.size(), size_t(4)); - EXPECT_EQ(rect_m2.m_vals[0], 1.0); - EXPECT_EQ(rect_m2.m_vals[1], 6.0); - EXPECT_EQ(rect_m2.m_vals[2], 3.0); - EXPECT_EQ(rect_m2.m_vals[3], 7.0); - ASSERT_EQ(rect_m2.m_row_idxs.size(), size_t(4)); - EXPECT_EQ(rect_m2.m_row_idxs[0], c_int(0)); - EXPECT_EQ(rect_m2.m_row_idxs[1], c_int(1)); - EXPECT_EQ(rect_m2.m_row_idxs[2], c_int(0)); - EXPECT_EQ(rect_m2.m_row_idxs[3], c_int(1)); - ASSERT_EQ(rect_m2.m_col_idxs.size(), size_t(5)); // nb of columns + 1 - EXPECT_EQ(rect_m2.m_col_idxs[0], c_int(0)); - EXPECT_EQ(rect_m2.m_col_idxs[1], c_int(1)); - EXPECT_EQ(rect_m2.m_col_idxs[2], c_int(2)); - EXPECT_EQ(rect_m2.m_col_idxs[3], c_int(4)); - EXPECT_EQ(rect_m2.m_col_idxs[4], c_int(4)); + ASSERT_EQ(rect_m2.vals_.size(), size_t(4)); + EXPECT_EQ(rect_m2.vals_[0], 1.0); + EXPECT_EQ(rect_m2.vals_[1], 6.0); + EXPECT_EQ(rect_m2.vals_[2], 3.0); + EXPECT_EQ(rect_m2.vals_[3], 7.0); + ASSERT_EQ(rect_m2.row_idxs_.size(), size_t(4)); + EXPECT_EQ(rect_m2.row_idxs_[0], c_int(0)); + EXPECT_EQ(rect_m2.row_idxs_[1], c_int(1)); + EXPECT_EQ(rect_m2.row_idxs_[2], c_int(0)); + EXPECT_EQ(rect_m2.row_idxs_[3], c_int(1)); + ASSERT_EQ(rect_m2.col_idxs_.size(), size_t(5)); // nb of columns + 1 + EXPECT_EQ(rect_m2.col_idxs_[0], c_int(0)); + EXPECT_EQ(rect_m2.col_idxs_[1], c_int(1)); + EXPECT_EQ(rect_m2.col_idxs_[2], c_int(2)); + EXPECT_EQ(rect_m2.col_idxs_[3], c_int(4)); + EXPECT_EQ(rect_m2.col_idxs_[4], c_int(4)); // Example from http://netlib.org/linalg/html_templates/node92.html Eigen::MatrixXd square2(6, 6); @@ -66,59 +66,59 @@ TEST(TestCscMatrixConv, Nominal) 0.0, 3.0, 0.0, 8.0, 7.0, 5.0, 0.0, 0.0, 8.0, 0.0, 9.0, 9.0, 13.0, 0.0, 4.0, 0.0, 0.0, 2.0, -1.0; const CSC_Matrix square_m2 = calCSCMatrix(square2); - ASSERT_EQ(square_m2.m_vals.size(), size_t(19)); - EXPECT_EQ(square_m2.m_vals[0], 10.0); - EXPECT_EQ(square_m2.m_vals[1], 3.0); - EXPECT_EQ(square_m2.m_vals[2], 3.0); - EXPECT_EQ(square_m2.m_vals[3], 9.0); - EXPECT_EQ(square_m2.m_vals[4], 7.0); - EXPECT_EQ(square_m2.m_vals[5], 8.0); - EXPECT_EQ(square_m2.m_vals[6], 4.0); - EXPECT_EQ(square_m2.m_vals[7], 8.0); - EXPECT_EQ(square_m2.m_vals[8], 8.0); - EXPECT_EQ(square_m2.m_vals[9], 7.0); - EXPECT_EQ(square_m2.m_vals[10], 7.0); - EXPECT_EQ(square_m2.m_vals[11], 9.0); - EXPECT_EQ(square_m2.m_vals[12], -2.0); - EXPECT_EQ(square_m2.m_vals[13], 5.0); - EXPECT_EQ(square_m2.m_vals[14], 9.0); - EXPECT_EQ(square_m2.m_vals[15], 2.0); - EXPECT_EQ(square_m2.m_vals[16], 3.0); - EXPECT_EQ(square_m2.m_vals[17], 13.0); - EXPECT_EQ(square_m2.m_vals[18], -1.0); - ASSERT_EQ(square_m2.m_row_idxs.size(), size_t(19)); - EXPECT_EQ(square_m2.m_row_idxs[0], c_int(0)); - EXPECT_EQ(square_m2.m_row_idxs[1], c_int(1)); - EXPECT_EQ(square_m2.m_row_idxs[2], c_int(3)); - EXPECT_EQ(square_m2.m_row_idxs[3], c_int(1)); - EXPECT_EQ(square_m2.m_row_idxs[4], c_int(2)); - EXPECT_EQ(square_m2.m_row_idxs[5], c_int(4)); - EXPECT_EQ(square_m2.m_row_idxs[6], c_int(5)); - EXPECT_EQ(square_m2.m_row_idxs[7], c_int(2)); - EXPECT_EQ(square_m2.m_row_idxs[8], c_int(3)); - EXPECT_EQ(square_m2.m_row_idxs[9], c_int(2)); - EXPECT_EQ(square_m2.m_row_idxs[10], c_int(3)); - EXPECT_EQ(square_m2.m_row_idxs[11], c_int(4)); - EXPECT_EQ(square_m2.m_row_idxs[12], c_int(0)); - EXPECT_EQ(square_m2.m_row_idxs[13], c_int(3)); - EXPECT_EQ(square_m2.m_row_idxs[14], c_int(4)); - EXPECT_EQ(square_m2.m_row_idxs[15], c_int(5)); - EXPECT_EQ(square_m2.m_row_idxs[16], c_int(1)); - EXPECT_EQ(square_m2.m_row_idxs[17], c_int(4)); - EXPECT_EQ(square_m2.m_row_idxs[18], c_int(5)); - ASSERT_EQ(square_m2.m_col_idxs.size(), size_t(7)); // nb of columns + 1 - EXPECT_EQ(square_m2.m_col_idxs[0], c_int(0)); - EXPECT_EQ(square_m2.m_col_idxs[1], c_int(3)); - EXPECT_EQ(square_m2.m_col_idxs[2], c_int(7)); - EXPECT_EQ(square_m2.m_col_idxs[3], c_int(9)); - EXPECT_EQ(square_m2.m_col_idxs[4], c_int(12)); - EXPECT_EQ(square_m2.m_col_idxs[5], c_int(16)); - EXPECT_EQ(square_m2.m_col_idxs[6], c_int(19)); + ASSERT_EQ(square_m2.vals_.size(), size_t(19)); + EXPECT_EQ(square_m2.vals_[0], 10.0); + EXPECT_EQ(square_m2.vals_[1], 3.0); + EXPECT_EQ(square_m2.vals_[2], 3.0); + EXPECT_EQ(square_m2.vals_[3], 9.0); + EXPECT_EQ(square_m2.vals_[4], 7.0); + EXPECT_EQ(square_m2.vals_[5], 8.0); + EXPECT_EQ(square_m2.vals_[6], 4.0); + EXPECT_EQ(square_m2.vals_[7], 8.0); + EXPECT_EQ(square_m2.vals_[8], 8.0); + EXPECT_EQ(square_m2.vals_[9], 7.0); + EXPECT_EQ(square_m2.vals_[10], 7.0); + EXPECT_EQ(square_m2.vals_[11], 9.0); + EXPECT_EQ(square_m2.vals_[12], -2.0); + EXPECT_EQ(square_m2.vals_[13], 5.0); + EXPECT_EQ(square_m2.vals_[14], 9.0); + EXPECT_EQ(square_m2.vals_[15], 2.0); + EXPECT_EQ(square_m2.vals_[16], 3.0); + EXPECT_EQ(square_m2.vals_[17], 13.0); + EXPECT_EQ(square_m2.vals_[18], -1.0); + ASSERT_EQ(square_m2.row_idxs_.size(), size_t(19)); + EXPECT_EQ(square_m2.row_idxs_[0], c_int(0)); + EXPECT_EQ(square_m2.row_idxs_[1], c_int(1)); + EXPECT_EQ(square_m2.row_idxs_[2], c_int(3)); + EXPECT_EQ(square_m2.row_idxs_[3], c_int(1)); + EXPECT_EQ(square_m2.row_idxs_[4], c_int(2)); + EXPECT_EQ(square_m2.row_idxs_[5], c_int(4)); + EXPECT_EQ(square_m2.row_idxs_[6], c_int(5)); + EXPECT_EQ(square_m2.row_idxs_[7], c_int(2)); + EXPECT_EQ(square_m2.row_idxs_[8], c_int(3)); + EXPECT_EQ(square_m2.row_idxs_[9], c_int(2)); + EXPECT_EQ(square_m2.row_idxs_[10], c_int(3)); + EXPECT_EQ(square_m2.row_idxs_[11], c_int(4)); + EXPECT_EQ(square_m2.row_idxs_[12], c_int(0)); + EXPECT_EQ(square_m2.row_idxs_[13], c_int(3)); + EXPECT_EQ(square_m2.row_idxs_[14], c_int(4)); + EXPECT_EQ(square_m2.row_idxs_[15], c_int(5)); + EXPECT_EQ(square_m2.row_idxs_[16], c_int(1)); + EXPECT_EQ(square_m2.row_idxs_[17], c_int(4)); + EXPECT_EQ(square_m2.row_idxs_[18], c_int(5)); + ASSERT_EQ(square_m2.col_idxs_.size(), size_t(7)); // nb of columns + 1 + EXPECT_EQ(square_m2.col_idxs_[0], c_int(0)); + EXPECT_EQ(square_m2.col_idxs_[1], c_int(3)); + EXPECT_EQ(square_m2.col_idxs_[2], c_int(7)); + EXPECT_EQ(square_m2.col_idxs_[3], c_int(9)); + EXPECT_EQ(square_m2.col_idxs_[4], c_int(12)); + EXPECT_EQ(square_m2.col_idxs_[5], c_int(16)); + EXPECT_EQ(square_m2.col_idxs_[6], c_int(19)); } TEST(TestCscMatrixConv, Trapezoidal) { - using qp::calCSCMatrixTrapezoidal; - using qp::CSC_Matrix; + using autoware::common::calCSCMatrixTrapezoidal; + using autoware::common::CSC_Matrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd square2(3, 3); @@ -129,33 +129,33 @@ TEST(TestCscMatrixConv, Trapezoidal) const CSC_Matrix square_m1 = calCSCMatrixTrapezoidal(square1); // Trapezoidal: skip the lower left triangle (2.0 in this example) - ASSERT_EQ(square_m1.m_vals.size(), size_t(3)); - EXPECT_EQ(square_m1.m_vals[0], 1.0); - EXPECT_EQ(square_m1.m_vals[1], 2.0); - EXPECT_EQ(square_m1.m_vals[2], 4.0); - ASSERT_EQ(square_m1.m_row_idxs.size(), size_t(3)); - EXPECT_EQ(square_m1.m_row_idxs[0], c_int(0)); - EXPECT_EQ(square_m1.m_row_idxs[1], c_int(0)); - EXPECT_EQ(square_m1.m_row_idxs[2], c_int(1)); - ASSERT_EQ(square_m1.m_col_idxs.size(), size_t(3)); - EXPECT_EQ(square_m1.m_col_idxs[0], c_int(0)); - EXPECT_EQ(square_m1.m_col_idxs[1], c_int(1)); - EXPECT_EQ(square_m1.m_col_idxs[2], c_int(3)); + ASSERT_EQ(square_m1.vals_.size(), size_t(3)); + EXPECT_EQ(square_m1.vals_[0], 1.0); + EXPECT_EQ(square_m1.vals_[1], 2.0); + EXPECT_EQ(square_m1.vals_[2], 4.0); + ASSERT_EQ(square_m1.row_idxs_.size(), size_t(3)); + EXPECT_EQ(square_m1.row_idxs_[0], c_int(0)); + EXPECT_EQ(square_m1.row_idxs_[1], c_int(0)); + EXPECT_EQ(square_m1.row_idxs_[2], c_int(1)); + ASSERT_EQ(square_m1.col_idxs_.size(), size_t(3)); + EXPECT_EQ(square_m1.col_idxs_[0], c_int(0)); + EXPECT_EQ(square_m1.col_idxs_[1], c_int(1)); + EXPECT_EQ(square_m1.col_idxs_[2], c_int(3)); const CSC_Matrix square_m2 = calCSCMatrixTrapezoidal(square2); - ASSERT_EQ(square_m2.m_vals.size(), size_t(3)); - EXPECT_EQ(square_m2.m_vals[0], 2.0); - EXPECT_EQ(square_m2.m_vals[1], 5.0); - EXPECT_EQ(square_m2.m_vals[2], 6.0); - ASSERT_EQ(square_m2.m_row_idxs.size(), size_t(3)); - EXPECT_EQ(square_m2.m_row_idxs[0], c_int(0)); - EXPECT_EQ(square_m2.m_row_idxs[1], c_int(1)); - EXPECT_EQ(square_m2.m_row_idxs[2], c_int(1)); - ASSERT_EQ(square_m2.m_col_idxs.size(), size_t(4)); - EXPECT_EQ(square_m2.m_col_idxs[0], c_int(0)); - EXPECT_EQ(square_m2.m_col_idxs[1], c_int(0)); - EXPECT_EQ(square_m2.m_col_idxs[2], c_int(2)); - EXPECT_EQ(square_m2.m_col_idxs[3], c_int(3)); + ASSERT_EQ(square_m2.vals_.size(), size_t(3)); + EXPECT_EQ(square_m2.vals_[0], 2.0); + EXPECT_EQ(square_m2.vals_[1], 5.0); + EXPECT_EQ(square_m2.vals_[2], 6.0); + ASSERT_EQ(square_m2.row_idxs_.size(), size_t(3)); + EXPECT_EQ(square_m2.row_idxs_[0], c_int(0)); + EXPECT_EQ(square_m2.row_idxs_[1], c_int(1)); + EXPECT_EQ(square_m2.row_idxs_[2], c_int(1)); + ASSERT_EQ(square_m2.col_idxs_.size(), size_t(4)); + EXPECT_EQ(square_m2.col_idxs_[0], c_int(0)); + EXPECT_EQ(square_m2.col_idxs_[1], c_int(0)); + EXPECT_EQ(square_m2.col_idxs_[2], c_int(2)); + EXPECT_EQ(square_m2.col_idxs_[3], c_int(3)); try { const CSC_Matrix rect_m1 = calCSCMatrixTrapezoidal(rect1); @@ -166,10 +166,10 @@ TEST(TestCscMatrixConv, Trapezoidal) } TEST(TestCscMatrixConv, Print) { - using qp::calCSCMatrix; - using qp::calCSCMatrixTrapezoidal; - using qp::CSC_Matrix; - using qp::printCSCMatrix; + using autoware::common::calCSCMatrix; + using autoware::common::calCSCMatrixTrapezoidal; + using autoware::common::CSC_Matrix; + using autoware::common::printCSCMatrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd rect1(1, 2); square1 << 1.0, 2.0, 2.0, 4.0; diff --git a/common/qp_interface/test/test_osqp_interface.cpp b/common/qp_interface/test/test_osqp_interface.cpp index 5ce1f0eb064a1..9a02dd4b00934 100644 --- a/common/qp_interface/test/test_osqp_interface.cpp +++ b/common/qp_interface/test/test_osqp_interface.cpp @@ -39,44 +39,44 @@ namespace TEST(TestOsqpInterface, BasicQp) { - using qp::calCSCMatrix; - using qp::calCSCMatrixTrapezoidal; - using qp::CSC_Matrix; + using autoware::common::calCSCMatrix; + using autoware::common::calCSCMatrixTrapezoidal; + using autoware::common::CSC_Matrix; - auto check_result = []( - const auto & solution, const int solution_status, const int polish_status) { - EXPECT_EQ(solution_status, 1); - EXPECT_EQ(polish_status, 1); + auto check_result = + [](const auto & solution, const std::string & status, const int polish_status) { + EXPECT_EQ(status, "OSQP_SOLVED"); + EXPECT_EQ(polish_status, 1); - static const auto ep = 1.0e-8; + static const auto ep = 1.0e-8; - ASSERT_EQ(solution.size(), size_t(2)); - EXPECT_NEAR(solution[0], 0.3, ep); - EXPECT_NEAR(solution[1], 0.7, ep); - }; + ASSERT_EQ(solution.size(), size_t(2)); + EXPECT_NEAR(solution[0], 0.3, ep); + EXPECT_NEAR(solution[1], 0.7, ep); + }; const Eigen::MatrixXd P = (Eigen::MatrixXd(2, 2) << 4, 1, 1, 2).finished(); const Eigen::MatrixXd A = (Eigen::MatrixXd(4, 2) << 1, 1, 1, 0, 0, 1, 0, 1).finished(); const std::vector q = {1.0, 1.0}; - const std::vector l = {1.0, 0.0, 0.0, -qp::INF}; - const std::vector u = {1.0, 0.7, 0.7, qp::INF}; + const std::vector l = {1.0, 0.0, 0.0, -autoware::common::OSQP_INF}; + const std::vector u = {1.0, 0.7, 0.7, autoware::common::OSQP_INF}; { // Define problem during optimization - qp::OSQPInterface osqp(false, 1e-6); + autoware::common::OSQPInterface osqp(false, 1e-6); const auto solution = osqp.QPInterface::optimize(P, A, q, l, u); - const auto solution_status = osqp.getStatus(); + const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); - check_result(solution, solution_status, polish_status); + check_result(solution, status, polish_status); } { // Define problem during initialization - qp::OSQPInterface osqp(false, 1e-6); + autoware::common::OSQPInterface osqp(false, 1e-6); const auto solution = osqp.QPInterface::optimize(P, A, q, l, u); - const auto solution_status = osqp.getStatus(); + const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); - check_result(solution, solution_status, polish_status); + check_result(solution, status, polish_status); } { @@ -87,7 +87,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - qp::OSQPInterface osqp(false, 1e-6); + autoware::common::OSQPInterface osqp(false, 1e-6); osqp.QPInterface::optimize(P_ini, A_ini, q_ini, l_ini, u_ini); } @@ -95,12 +95,12 @@ TEST(TestOsqpInterface, BasicQp) // Define problem during initialization with csc matrix CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P); CSC_Matrix A_csc = calCSCMatrix(A); - qp::OSQPInterface osqp(false, 1e-6); + autoware::common::OSQPInterface osqp(false, 1e-6); const auto solution = osqp.optimize(P_csc, A_csc, q, l, u); - const auto solution_status = osqp.getStatus(); + const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); - check_result(solution, solution_status, polish_status); + check_result(solution, status, polish_status); } { @@ -111,7 +111,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - qp::OSQPInterface osqp(false, 1e-6); + autoware::common::OSQPInterface osqp(false, 1e-6); osqp.optimize(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini); // Redefine problem before optimization @@ -119,9 +119,9 @@ TEST(TestOsqpInterface, BasicQp) CSC_Matrix A_csc = calCSCMatrix(A); const auto solution = osqp.optimize(P_csc, A_csc, q, l, u); - const auto solution_status = osqp.getStatus(); + const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); - check_result(solution, solution_status, polish_status); + check_result(solution, status, polish_status); } // add warm startup @@ -132,7 +132,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - qp::OSQPInterface osqp(true, 1e-6); // enable warm start + autoware::common::OSQPInterface osqp(true, 1e-6); // enable warm start osqp.optimize(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini); // Redefine problem before optimization @@ -140,9 +140,9 @@ TEST(TestOsqpInterface, BasicQp) CSC_Matrix A_csc = calCSCMatrix(A); { const auto solution = osqp.optimize(P_csc, A_csc, q, l, u); - const auto solution_status = osqp.getStatus(); + const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); - check_result(solution, solution_status, polish_status); + check_result(solution, status, polish_status); osqp.updateCheckTermination(1); const auto primal_val = solution; @@ -155,9 +155,9 @@ TEST(TestOsqpInterface, BasicQp) { const auto solution = osqp.optimize(P_csc, A_csc, q, l, u); - const auto solution_status = osqp.getStatus(); + const auto status = osqp.getStatus(); const auto polish_status = osqp.getPolishStatus(); - check_result(solution, solution_status, polish_status); + check_result(solution, status, polish_status); } // NOTE: This should be true, but currently optimize function reset the workspace, which diff --git a/common/qp_interface/test/test_proxqp_interface.cpp b/common/qp_interface/test/test_proxqp_interface.cpp index c28678e5c872a..a8b1bb29dafa0 100644 --- a/common/qp_interface/test/test_proxqp_interface.cpp +++ b/common/qp_interface/test/test_proxqp_interface.cpp @@ -40,7 +40,9 @@ namespace TEST(TestProxqpInterface, BasicQp) { - auto check_result = [](const auto & solution) { + auto check_result = [](const auto & solution, const std::string & status) { + EXPECT_EQ(status, "PROXQP_SOLVED"); + static const auto ep = 1.0e-8; ASSERT_EQ(solution.size(), size_t(2)); EXPECT_NEAR(solution[0], 0.3, ep); @@ -55,23 +57,26 @@ TEST(TestProxqpInterface, BasicQp) { // Define problem during optimization - qp::ProxQPInterface proxqp(false, 1e-9); + autoware::common::ProxQPInterface proxqp(false, 1e-9, 1e-9, false); const auto solution = proxqp.QPInterface::optimize(P, A, q, l, u); - check_result(solution); + const auto status = proxqp.getStatus(); + check_result(solution, status); } { // Define problem during optimization with warm start - qp::ProxQPInterface proxqp(true, 1e-9); + autoware::common::ProxQPInterface proxqp(true, 1e-9, 1e-9, false); { const auto solution = proxqp.QPInterface::optimize(P, A, q, l, u); - check_result(solution); - EXPECT_NE(proxqp.getIteration(), 1); + const auto status = proxqp.getStatus(); + check_result(solution, status); + EXPECT_NE(proxqp.getIterationNumber(), 1); } { const auto solution = proxqp.QPInterface::optimize(P, A, q, l, u); - check_result(solution); - EXPECT_EQ(proxqp.getIteration(), 0); + const auto status = proxqp.getStatus(); + check_result(solution, status); + EXPECT_EQ(proxqp.getIterationNumber(), 0); } } } From 924a37575612129f9038b4f86162f2f11b314186 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 16 Jul 2024 11:39:40 +0900 Subject: [PATCH 177/306] feat(autoware_behavior_path_planner): prevent infinite loop in approving scene module process (#7881) * prevent infinite loop Signed-off-by: kyoichi-sugahara * calculate max_iteration_num from number of scene modules Signed-off-by: kyoichi-sugahara * add doxygen explanation for calculateMaxIterationNum Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../config/behavior_path_planner.param.yaml | 1 - .../behavior_path_planner/planner_manager.hpp | 23 +++++++++-- .../src/behavior_path_planner_node.cpp | 7 ++-- .../src/planner_manager.cpp | 40 +++++++++++++++---- 4 files changed, 56 insertions(+), 15 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml index e5c3a76fd1c45..7d5249dea689f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - max_iteration_num: 100 traffic_light_signal_timeout: 1.0 planning_hz: 10.0 backward_path_length: 5.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp index 3a9aa9cafbcca..0876d44b477a9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp @@ -97,7 +97,7 @@ struct SceneModuleStatus class PlannerManager { public: - PlannerManager(rclcpp::Node & node, const size_t max_iteration_num); + explicit PlannerManager(rclcpp::Node & node); /** * @brief run all candidate and approved modules. @@ -112,6 +112,17 @@ class PlannerManager */ void launchScenePlugin(rclcpp::Node & node, const std::string & name); + /** + * @brief calculate max iteration numbers. + * Let N be the number of scene modules. The maximum number of iterations executed in a loop is N, + * but after that, if there are any modules that have succeeded or failed, the approve_modules of + * all modules are cleared, and the loop is executed for N-1 modules. As this process repeats, it + * becomes N + (N-1) + (N-2) + … + 1, therefore the maximum number of iterations is N(N+1)/2. + * @param number of scene module + * + */ + void calculateMaxIterationNum(const size_t scene_module_num); + /** * @brief unregister managers. * @param node. @@ -398,11 +409,13 @@ class PlannerManager * @brief run all modules in approved_module_ptrs_ and get a planning result as * approved_modules_output. * @param planner data. + * @param deleted modules. * @return valid planning result. * @details in this function, expired modules (ModuleStatus::FAILURE or ModuleStatus::SUCCESS) are - * removed from approved_module_ptrs_. + * removed from approved_module_ptrs_ and added to deleted_modules. */ - BehaviorModuleOutput runApprovedModules(const std::shared_ptr & data); + BehaviorModuleOutput runApprovedModules( + const std::shared_ptr & data, std::vector & deleted_modules); /** * @brief select a module that should be execute at first. @@ -422,10 +435,12 @@ class PlannerManager /** * @brief get all modules that make execution request. * @param decided (=approved) path. + * @param deleted modules. * @return request modules. */ std::vector getRequestModules( - const BehaviorModuleOutput & previous_module_output) const; + const BehaviorModuleOutput & previous_module_output, + const std::vector & deleted_modules) const; /** * @brief checks whether a path of trajectory has forward driving direction diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index 0e586211bc9ee..e92fe937708b8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -70,16 +70,18 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod const std::lock_guard lock(mutex_manager_); // for planner_manager_ - const auto & p = planner_data_->parameters; - planner_manager_ = std::make_shared(*this, p.max_iteration_num); + planner_manager_ = std::make_shared(*this); + size_t scene_module_num = 0; for (const auto & name : declare_parameter>("launch_modules")) { // workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter. if (name == "") { break; } planner_manager_->launchScenePlugin(*this, name); + scene_module_num++; } + planner_manager_->calculateMaxIterationNum(scene_module_num); for (const auto & manager : planner_manager_->getSceneModuleManagers()) { path_candidate_publishers_.emplace( @@ -147,7 +149,6 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam() { BehaviorPathPlannerParameters p{}; - p.max_iteration_num = declare_parameter("max_iteration_num"); p.traffic_light_signal_timeout = declare_parameter("traffic_light_signal_timeout"); // vehicle info diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp index 05dcc2163d14a..5278ea8e76981 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp @@ -30,13 +30,12 @@ namespace autoware::behavior_path_planner { -PlannerManager::PlannerManager(rclcpp::Node & node, const size_t max_iteration_num) +PlannerManager::PlannerManager(rclcpp::Node & node) : plugin_loader_( "autoware_behavior_path_planner", "autoware::behavior_path_planner::SceneModuleManagerInterface"), logger_(node.get_logger().get_child("planner_manager")), - clock_(*node.get_clock()), - max_iteration_num_{max_iteration_num} + clock_(*node.get_clock()) { processing_time_.emplace("total_time", 0.0); debug_publisher_ptr_ = std::make_unique(&node, "~/debug"); @@ -66,6 +65,11 @@ void PlannerManager::launchScenePlugin(rclcpp::Node & node, const std::string & } } +void PlannerManager::calculateMaxIterationNum(const size_t scene_module_num) +{ + max_iteration_num_ = scene_module_num * (scene_module_num + 1) / 2; +} + void PlannerManager::removeScenePlugin(rclcpp::Node & node, const std::string & name) { auto it = std::remove_if(manager_ptrs_.begin(), manager_ptrs_.end(), [&](const auto plugin) { @@ -127,17 +131,19 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da "Ego is out of route, no module is running. Skip running scene modules."); return output; } + std::vector + deleted_modules; // store the scene modules deleted from approved modules for (size_t itr_num = 1;; ++itr_num) { /** * STEP1: get approved modules' output */ - auto approved_modules_output = runApprovedModules(data); + auto approved_modules_output = runApprovedModules(data, deleted_modules); /** * STEP2: check modules that need to be launched */ - const auto request_modules = getRequestModules(approved_modules_output); + const auto request_modules = getRequestModules(approved_modules_output, deleted_modules); /** * STEP3: if there is no module that need to be launched, return approved modules' output @@ -250,7 +256,8 @@ void PlannerManager::generateCombinedDrivableArea( } std::vector PlannerManager::getRequestModules( - const BehaviorModuleOutput & previous_module_output) const + const BehaviorModuleOutput & previous_module_output, + const std::vector & deleted_modules) const { if (previous_module_output.path.points.empty()) { RCLCPP_ERROR_STREAM( @@ -268,6 +275,18 @@ std::vector PlannerManager::getRequestModules( for (const auto & manager_ptr : manager_ptrs_) { stop_watch_.tic(manager_ptr->name()); + /** + * skip the module that is already deleted. + */ + { + const auto name = manager_ptr->name(); + const auto find_deleted_module = [&name](const auto & m) { return m->name() == name; }; + const auto itr = + std::find_if(deleted_modules.begin(), deleted_modules.end(), find_deleted_module); + if (itr != deleted_modules.end()) { + continue; + } + } /** * determine the execution capability of modules based on existing approved modules. @@ -655,7 +674,8 @@ std::pair PlannerManager::runRequestModule return std::make_pair(module_ptr, results.at(module_ptr->name())); } -BehaviorModuleOutput PlannerManager::runApprovedModules(const std::shared_ptr & data) +BehaviorModuleOutput PlannerManager::runApprovedModules( + const std::shared_ptr & data, std::vector & deleted_modules) { std::unordered_map results; BehaviorModuleOutput output = getReferencePath(data); @@ -771,6 +791,9 @@ BehaviorModuleOutput PlannerManager::runApprovedModules(const std::shared_ptrgetCurrentStatus() == ModuleStatus::FAILURE; }); + if (itr != approved_module_ptrs_.end()) { + deleted_modules.push_back(*itr); + } std::for_each(itr, approved_module_ptrs_.end(), [this](auto & m) { debug_info_.emplace_back(m, Action::DELETE, "From Approved"); @@ -842,6 +865,9 @@ BehaviorModuleOutput PlannerManager::runApprovedModules(const std::shared_ptr Date: Tue, 16 Jul 2024 13:34:39 +0900 Subject: [PATCH 178/306] feat(static_obstacle_avoidance): show markers when system requests operator support (#7994) Signed-off-by: satoshi-ota --- .../debug.hpp | 3 + .../src/debug.cpp | 73 ++++++++++++++++++- .../src/scene.cpp | 5 ++ 3 files changed, 80 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp index 63985e574f3b2..b205838896038 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp @@ -47,6 +47,9 @@ MarkerArray createTargetObjectsMarkerArray(const ObjectDataArray & objects, cons MarkerArray createOtherObjectsMarkerArray( const ObjectDataArray & objects, const ObjectInfo & info, const bool verbose); +MarkerArray createAmbiguousObjectsMarkerArray( + const ObjectDataArray & objects, const Pose & ego_pose, const std::string & policy); + MarkerArray createStopTargetObjectMarkerArray(const AvoidancePlanningData & data); MarkerArray createDebugMarkerArray( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp index e1f8bd4ad2734..fb4e5c7b9a25e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp @@ -456,7 +456,7 @@ MarkerArray createOtherObjectsMarkerArray( appendMarkerArray( createObjectsCubeMarkerArray( filtered_objects, "others_" + ns + "_cube", createMarkerScale(3.0, 1.5, 1.5), - createMarkerColor(0.0, 1.0, 0.0, 0.8)), + createMarkerColor(0.5, 0.5, 0.5, 0.8)), &msg); appendMarkerArray( createObjectInfoMarkerArray(filtered_objects, "others_" + ns + "_info", verbose), &msg); @@ -466,6 +466,77 @@ MarkerArray createOtherObjectsMarkerArray( return msg; } +MarkerArray createAmbiguousObjectsMarkerArray( + const ObjectDataArray & objects, const Pose & ego_pose, const std::string & policy) +{ + MarkerArray msg; + + if (policy != "manual") { + return msg; + } + + for (const auto & object : objects) { + if (!object.is_ambiguous || !object.is_avoidable) { + continue; + } + + { + auto marker = createDefaultMarker( + "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "ambiguous_target", 0L, Marker::ARROW, + createMarkerScale(0.5, 1.0, 1.0), createMarkerColor(1.0, 1.0, 0.0, 0.999)); + + Point src, dst; + src = object.getPosition(); + src.z += 4.0; + dst = object.getPosition(); + dst.z += 2.0; + + marker.points.push_back(src); + marker.points.push_back(dst); + marker.id = uuidToInt32(object.object.object_id); + + msg.markers.push_back(marker); + } + + { + auto marker = createDefaultMarker( + "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "ambiguous_target_text", 0L, + Marker::TEXT_VIEW_FACING, createMarkerScale(0.5, 0.5, 0.5), + createMarkerColor(1.0, 1.0, 0.0, 1.0)); + + marker.id = uuidToInt32(object.object.object_id); + marker.pose = object.getPose(); + marker.pose.position.z += 4.5; + std::ostringstream string_stream; + string_stream << "SHOULD AVOID?"; + marker.text = string_stream.str(); + marker.color = createMarkerColor(1.0, 1.0, 0.0, 0.999); + marker.scale = createMarkerScale(0.8, 0.8, 0.8); + msg.markers.push_back(marker); + } + + { + auto marker = createDefaultMarker( + "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "request_text", 0L, Marker::TEXT_VIEW_FACING, + createMarkerScale(0.5, 0.5, 0.5), createMarkerColor(1.0, 1.0, 0.0, 1.0)); + + marker.id = uuidToInt32(object.object.object_id); + marker.pose = ego_pose; + marker.pose.position.z += 2.0; + std::ostringstream string_stream; + string_stream << "SYSTEM REQUESTS OPERATOR SUPPORT."; + marker.text = string_stream.str(); + marker.color = createMarkerColor(1.0, 1.0, 0.0, 0.999); + marker.scale = createMarkerScale(0.8, 0.8, 0.8); + msg.markers.push_back(marker); + } + + return msg; + } + + return msg; +} + MarkerArray createStopTargetObjectMarkerArray(const AvoidancePlanningData & data) { MarkerArray msg; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 641ae9547b712..b4a3bba0ee508 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -1386,6 +1386,7 @@ void StaticObstacleAvoidanceModule::updateRTCData() void StaticObstacleAvoidanceModule::updateInfoMarker(const AvoidancePlanningData & data) const { + using utils::static_obstacle_avoidance::createAmbiguousObjectsMarkerArray; using utils::static_obstacle_avoidance::createStopTargetObjectMarkerArray; using utils::static_obstacle_avoidance::createTargetObjectsMarkerArray; @@ -1393,6 +1394,10 @@ void StaticObstacleAvoidanceModule::updateInfoMarker(const AvoidancePlanningData appendMarkerArray( createTargetObjectsMarkerArray(data.target_objects, "target_objects"), &info_marker_); appendMarkerArray(createStopTargetObjectMarkerArray(data), &info_marker_); + appendMarkerArray( + createAmbiguousObjectsMarkerArray( + data.target_objects, getEgoPose(), parameters_->policy_ambiguous_vehicle), + &info_marker_); } void StaticObstacleAvoidanceModule::updateDebugMarker( From 69cad9fd4bb52ab8357fdcbac94a7ad4eb910377 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 14:27:26 +0900 Subject: [PATCH 179/306] fix(object_merger): fix funcArgNamesDifferent (#8012) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../object_merger/src/object_association_merger_node.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/object_merger/src/object_association_merger_node.hpp b/perception/object_merger/src/object_association_merger_node.hpp index d5b5a1ae018a6..d11f58bc5a857 100644 --- a/perception/object_merger/src/object_association_merger_node.hpp +++ b/perception/object_merger/src/object_association_merger_node.hpp @@ -55,8 +55,8 @@ class ObjectAssociationMergerNode : public rclcpp::Node private: void objectsCallback( - const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_object0_msg, - const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_object1_msg); + const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects0_msg, + const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects1_msg); tf2_ros::Buffer tf_buffer_; tf2_ros::TransformListener tf_listener_; From 201cf20f683145123663f91f56daa64acfff44df Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 14:28:28 +0900 Subject: [PATCH 180/306] fix(autoware_radar_object_tracker): fix funcArgNamesDifferent (#8015) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../src/radar_object_tracker_node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.hpp b/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.hpp index aaba15bbad05d..224fa10e45c32 100644 --- a/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.hpp +++ b/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.hpp @@ -80,7 +80,7 @@ class RadarObjectTrackerNode : public rclcpp::Node void onMeasurement( const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg); void onTimer(); - void onMap(const LaneletMapBin::ConstSharedPtr map_msg); + void onMap(const LaneletMapBin::ConstSharedPtr msg); std::string world_frame_id_; // tracking frame std::string tracker_config_directory_; From 9f4a033f9b48742faa33b0feaf5ad25689d0ea78 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 14:28:43 +0900 Subject: [PATCH 181/306] fix(tracking_object_merger): fix funcArgNamesDifferent (#8016) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../src/decorative_tracker_merger_node.hpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp b/perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp index ae19f51876490..e0ef193b8306b 100644 --- a/perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp +++ b/perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp @@ -58,20 +58,20 @@ class DecorativeTrackerMergerNode : public rclcpp::Node std::unordered_map> & data_association_map); void mainObjectsCallback( - const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & input_object_msg); + const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & main_objects); void subObjectsCallback( - const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & input_object_msg); + const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & msg); bool decorativeMerger( - const MEASUREMENT_STATE input_index, - const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & input_object_msg); + const MEASUREMENT_STATE input_sensor, + const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & input_objects_msg); autoware_perception_msgs::msg::TrackedObjects predictFutureState( const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & input_object_msg, const std_msgs::msg::Header & header); std::optional interpolateObjectState( - const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & input_object_msg1, - const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & input_object_msg2, - const std_msgs::msg::Header & header); + const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & former_msg, + const autoware_perception_msgs::msg::TrackedObjects::ConstSharedPtr & latter_msg, + const std_msgs::msg::Header & output_header); TrackedObjects getTrackedObjects(const std_msgs::msg::Header & header); TrackerState createNewTracker( const MEASUREMENT_STATE input_index, rclcpp::Time current_time, From 91a81957ba144526032af761365c72ead82c133f Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 14:29:05 +0900 Subject: [PATCH 182/306] fix(autoware_mission_planner): fix funcArgNamesDifferent (#8017) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../src/lanelet2_plugins/default_planner.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp index 60c2a53b82123..19e28ee2abfc7 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp @@ -52,7 +52,7 @@ class DefaultPlanner : public mission_planner::PlannerPlugin void clearRoute() override; MarkerArray visualize(const LaneletRoute & route) const override; MarkerArray visualize_debug_footprint( - autoware::universe_utils::LinearRing2d goal_footprint_) const; + autoware::universe_utils::LinearRing2d goal_footprint) const; autoware::vehicle_info_utils::VehicleInfo vehicle_info_; private: From 356ece26ba939cdcbef8ac0c4574d455696d455f Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 14:31:45 +0900 Subject: [PATCH 183/306] fix(autoware_motion_velocity_dynamic_obstacle_stop_module): fix funcArgNamesDifferent (#8024) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../src/collision.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.hpp index 00e87c69d53fa..63ed073a0983d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.hpp @@ -40,7 +40,7 @@ std::optional find_closest_collision_point( std::vector find_collisions( const EgoData & ego_data, const std::vector & objects, - const autoware::universe_utils::MultiPolygon2d & obstacle_forward_footprints); + const autoware::universe_utils::MultiPolygon2d & object_forward_footprints); } // namespace autoware::motion_velocity_planner::dynamic_obstacle_stop From 3b984e71c8fd65820da67ebb59c32a6ae86a941e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 16 Jul 2024 14:34:57 +0900 Subject: [PATCH 184/306] fix(static_obstacle_avoidance): fix issues in target filtiering logic (#7954) * fix: unknown filtering flow Signed-off-by: satoshi-ota * fix: relax target filtering logic for object which is in freespace Signed-off-by: satoshi-ota * docs: update flowchart Signed-off-by: satoshi-ota * fix: check stopped time in freespace Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../README.md | 21 +++++++++ .../static_obstacle_avoidance.param.yaml | 4 ++ .../data_structs.hpp | 3 ++ .../parameter_helper.hpp | 6 +++ .../static_obstacle_avoidance.schema.json | 22 ++++++++- .../src/manager.cpp | 6 +++ .../src/utils.cpp | 46 +++++++++++++++++-- 7 files changed, 103 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md index 8e20cf2c9f660..036692c1c6b89 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md @@ -401,6 +401,15 @@ else (\n no) #00FFB1 :IGNORE; stop endif +if(Is UNKNOWN objects?) then (yes) +if(isSatisfiedWithUnknownTypeObjectCodition) then (yes) +#FF006C :AVOID; +stop +else (\n no) +#00FFB1 :IGNORE; +stop +endif +else (\n no) if(Is vehicle type?) then (yes) if(isSatisfiedWithVehicleCodition()) then (yes) else (\n no) @@ -618,6 +627,18 @@ title Filter vehicle which is obviously an avoidance target start partition isObviousAvoidanceTarget() { +if(Is object within freespace?) then (yes) +if(Is object on ego lane?) then (no) +if(Is object stopping longer than threshold?) then (yes) +#FF006C :return true; +stop +else (\n no) +endif +else (\n yes) +endif +else (\n no) +endif + if(Is object within intersection?) then (yes) else (\n no) if(Is object parallel to ego lane? AND Is object a parked vehicle?) then (yes) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml index 6bd5e0faf1938..0e60e3216361d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml @@ -160,6 +160,10 @@ intersection: yaw_deviation: 0.349 # [rad] (default 20.0deg) + freespace: + condition: + th_stopped_time: 5.0 # [-] + # For safety check safety_check: # safety check target type diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp index 079928a58bd9f..4e14dc4886768 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp @@ -191,6 +191,9 @@ struct AvoidanceParameters // minimum road shoulder width. maybe 0.5 [m] double object_check_min_road_shoulder_width{0.0}; + // time threshold for vehicle in freespace. + double freespace_condition_th_stopped_time{0.0}; + // force avoidance std::vector wait_and_see_target_behaviors{"NONE", "MERGING", "DEVIATING"}; double wait_and_see_th_closest_distance{0.0}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp index 0cea2a4e633c3..56ac3d7f4f1bb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp @@ -154,6 +154,12 @@ AvoidanceParameters getParameter(rclcpp::Node * node) getOrDeclareParameter(*node, ns + "ignore_area.crosswalk.behind_distance"); } + { + const std::string ns = "avoidance.target_filtering.freespace."; + p.freespace_condition_th_stopped_time = + getOrDeclareParameter(*node, ns + "condition.th_stopped_time"); + } + { const std::string ns = "avoidance.target_filtering.detection_area."; p.use_static_detection_area = getOrDeclareParameter(*node, ns + "static"); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json index 246b96ec5440e..38a91ac39525b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json @@ -812,6 +812,25 @@ }, "required": ["yaw_deviation"], "additionalProperties": false + }, + "freespace": { + "type": "object", + "properties": { + "condition": { + "type": "object", + "properties": { + "th_stopped_time": { + "type": "number", + "description": "This module delays avoidance maneuver to see vehicle behavior in freespace.", + "default": 5.0 + } + }, + "required": ["th_stopped_time"], + "additionalProperties": false + } + }, + "required": ["condition"], + "additionalProperties": false } }, "required": [ @@ -823,7 +842,8 @@ "merging_vehicle", "parked_vehicle", "avoidance_for_ambiguous_vehicle", - "intersection" + "intersection", + "freespace" ], "additionalProperties": false }, diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp index c5f338e91acbd..5655696ff086d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp @@ -150,6 +150,12 @@ void StaticObstacleAvoidanceModuleManager::updateModuleParams( p->object_ignore_section_crosswalk_behind_distance); } + { + const std::string ns = "avoidance.target_filtering.freespace."; + updateParam( + parameters, ns + "condition.th_stopped_time", p->freespace_condition_th_stopped_time); + } + { const std::string ns = "avoidance.target_filtering.intersection."; updateParam(parameters, ns + "yaw_deviation", p->object_check_yaw_deviation); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 75eb6ab0fb62e..ca1ee624a54d5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -339,6 +339,32 @@ bool isWithinIntersection( lanelet::utils::to2D(polygon.basicPolygon())); } +bool isWithinFreespace( + const ObjectData & object, const std::shared_ptr & route_handler) +{ + auto polygons = lanelet::utils::query::getAllParkingLots(route_handler->getLaneletMapPtr()); + if (polygons.empty()) { + return false; + } + + std::sort(polygons.begin(), polygons.end(), [&object](const auto & a, const auto & b) { + const double a_distance = boost::geometry::distance( + lanelet::utils::to2D(a).basicPolygon(), + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) + .basicPoint()); + const double b_distance = boost::geometry::distance( + lanelet::utils::to2D(b).basicPolygon(), + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) + .basicPoint()); + return a_distance < b_distance; + }); + + return boost::geometry::within( + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) + .basicPoint(), + lanelet::utils::to2D(polygons.front().basicPolygon())); +} + bool isOnEgoLane(const ObjectData & object, const std::shared_ptr & route_handler) { if (boost::geometry::within( @@ -708,6 +734,14 @@ bool isObviousAvoidanceTarget( [[maybe_unused]] const std::shared_ptr & planner_data, [[maybe_unused]] const std::shared_ptr & parameters) { + if (isWithinFreespace(object, planner_data->route_handler)) { + if (!object.is_on_ego_lane) { + if (object.stop_time > parameters->freespace_condition_th_stopped_time) { + return true; + } + } + } + if (!object.is_within_intersection) { if (object.is_parked && object.behavior == ObjectData::Behavior::NONE) { RCLCPP_DEBUG(rclcpp::get_logger(logger_namespace), "object is obvious parked vehicle."); @@ -1842,17 +1876,19 @@ void filterTargetObjects( utils::static_obstacle_avoidance::calcEnvelopeOverhangDistance(o, data.reference_path); o.to_road_shoulder_distance = filtering_utils::getRoadShoulderDistance(o, data, planner_data); - // TODO(Satoshi Ota) parametrize stop time threshold if need. - constexpr double STOP_TIME_THRESHOLD = 3.0; // [s] if (filtering_utils::isUnknownTypeObject(o)) { + // TARGET: UNKNOWN + + // TODO(Satoshi Ota) parametrize stop time threshold if need. + constexpr double STOP_TIME_THRESHOLD = 3.0; // [s] if (o.stop_time < STOP_TIME_THRESHOLD) { o.info = ObjectInfo::UNSTABLE_OBJECT; data.other_objects.push_back(o); continue; } - } + } else if (filtering_utils::isVehicleTypeObject(o)) { + // TARGET: CAR, TRUCK, BUS, TRAILER, MOTORCYCLE - if (filtering_utils::isVehicleTypeObject(o)) { o.is_within_intersection = filtering_utils::isWithinIntersection(o, planner_data->route_handler); o.is_parked = @@ -1869,6 +1905,8 @@ void filterTargetObjects( continue; } } else { + // TARGET: PEDESTRIAN, BICYCLE + o.is_within_intersection = filtering_utils::isWithinIntersection(o, planner_data->route_handler); o.is_parked = false; From 4f1f5ead43ec6453e4f88af200d4256326978298 Mon Sep 17 00:00:00 2001 From: Anh Nguyen Date: Tue, 16 Jul 2024 14:08:52 +0700 Subject: [PATCH 185/306] feat(ndt_scan_matcher): warn if the lidar scan has gone out of the range of the loaded map (#7612) * Warn if the initial NDT pose of the lidar has gone out of the map range Signed-off-by: Anh Nguyen * style(pre-commit): autofix * Testing Signed-off-by: Anh Nguyen * style(pre-commit): autofix * Add mutex and a secondary last_update_position to map_update_module to avoid race condition when checking map range Signed-off-by: Anh Nguyen * style(pre-commit): autofix * Remove last_update_pos_ and use mutex for last_update_position_ Signed-off-by: Anh Nguyen * style(pre-commit): autofix --------- Signed-off-by: Anh Nguyen Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../ndt_scan_matcher/map_update_module.hpp | 5 +++ .../src/map_update_module.cpp | 38 ++++++++++++++++++- .../src/ndt_scan_matcher_core.cpp | 12 ++++++ 3 files changed, 54 insertions(+), 1 deletion(-) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index ac913b128b5f1..e09ff5c782e7d 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -52,6 +52,8 @@ class MapUpdateModule rclcpp::Node * node, std::mutex * ndt_ptr_mutex, NdtPtrType & ndt_ptr, HyperParameters::DynamicMapLoading param); + bool out_of_map_range(const geometry_msgs::msg::Point & position); + private: friend class NDTScanMatcher; @@ -62,6 +64,7 @@ class MapUpdateModule [[nodiscard]] bool should_update_map( const geometry_msgs::msg::Point & position, std::unique_ptr & diagnostics_ptr); + void update_map( const geometry_msgs::msg::Point & position, std::unique_ptr & diagnostics_ptr); @@ -88,6 +91,8 @@ class MapUpdateModule // Indicate if there is a prefetch thread waiting for being collected NdtPtrType secondary_ndt_ptr_; bool need_rebuild_; + // Keep the last_update_position_ unchanged while checking map range + std::mutex last_update_position_mtx_; }; #endif // NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_ diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 32e5a0f2a7c3c..012c72e6b3a46 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -82,7 +82,11 @@ void MapUpdateModule::callback_timer( bool MapUpdateModule::should_update_map( const geometry_msgs::msg::Point & position, std::unique_ptr & diagnostics_ptr) { + last_update_position_mtx_.lock(); + if (last_update_position_ == std::nullopt) { + last_update_position_mtx_.unlock(); + need_rebuild_ = true; return true; } @@ -91,6 +95,8 @@ bool MapUpdateModule::should_update_map( const double dy = position.y - last_update_position_.value().y; const double distance = std::hypot(dx, dy); + last_update_position_mtx_.unlock(); + // check distance_last_update_position_to_current_position diagnostics_ptr->add_key_value("distance_last_update_position_to_current_position", distance); if (distance + param_.lidar_radius > param_.map_radius) { @@ -107,6 +113,27 @@ bool MapUpdateModule::should_update_map( return distance > param_.update_distance; } +bool MapUpdateModule::out_of_map_range(const geometry_msgs::msg::Point & position) +{ + last_update_position_mtx_.lock(); + + if (last_update_position_ == std::nullopt) { + last_update_position_mtx_.unlock(); + + return true; + } + + const double dx = position.x - last_update_position_.value().x; + const double dy = position.y - last_update_position_.value().y; + + last_update_position_mtx_.unlock(); + + const double distance = std::hypot(dx, dy); + + // check distance_last_update_position_to_current_position + return (distance + param_.lidar_radius > param_.map_radius); +} + void MapUpdateModule::update_map( const geometry_msgs::msg::Point & position, std::unique_ptr & diagnostics_ptr) { @@ -140,8 +167,12 @@ void MapUpdateModule::update_map( diagnostics_ptr->update_level_and_message( diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str()); RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, message.str()); - last_update_position_ = position; ndt_ptr_mutex_->unlock(); + + last_update_position_mtx_.lock(); + last_update_position_ = position; + last_update_position_mtx_.unlock(); + return; } @@ -159,7 +190,10 @@ void MapUpdateModule::update_map( // check is_updated_map diagnostics_ptr->add_key_value("is_updated_map", updated); if (!updated) { + last_update_position_mtx_.lock(); last_update_position_ = position; + last_update_position_mtx_.unlock(); + return; } @@ -179,7 +213,9 @@ void MapUpdateModule::update_map( *secondary_ndt_ptr_ = *ndt_ptr_; // Memorize the position of the last update + last_update_position_mtx_.lock(); last_update_position_ = position; + last_update_position_mtx_.unlock(); // Publish the new ndt maps publish_partial_pcd_map(); diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index 6d34f666b997b..b394a8f863ceb 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -440,6 +440,18 @@ bool NDTScanMatcher::callback_sensor_points_main( add_regularization_pose(sensor_ros_time); } + // Warn if the lidar has gone out of the map range + if (map_update_module_->out_of_map_range( + interpolation_result.interpolated_pose.pose.pose.position)) { + std::stringstream msg; + + msg << "Lidar has gone out of the map range"; + diagnostics_scan_points_->update_level_and_message( + diagnostic_msgs::msg::DiagnosticStatus::WARN, msg.str()); + + RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, msg.str()); + } + // check is_set_map_points const bool is_set_map_points = (ndt_ptr_->getInputTarget() != nullptr); diagnostics_scan_points_->add_key_value("is_set_map_points", is_set_map_points); From dc9ded6138ef28563c55aaec4943719a928ec79f Mon Sep 17 00:00:00 2001 From: taisa1 <38522559+taisa1@users.noreply.github.com> Date: Tue, 16 Jul 2024 16:32:32 +0900 Subject: [PATCH 186/306] perf(probabilistic_occupancy_grid_map): performance tuning for pointcloud based occupancy grid map (#7687) * perf: performance tuning Signed-off-by: taisa1 * fix: remove unnecessary change Signed-off-by: taisa1 * chore: edit comments Signed-off-by: taisa1 * fix: change the way of offset initialization Signed-off-by: taisa1 * fix: compile error and name Signed-off-by: taisa1 * fix: take common parts as func Signed-off-by: taisa1 * refactor: change variable name Signed-off-by: taisa1 * refactor: add some blank lines Signed-off-by: taisa1 * fix: made unapplied change Signed-off-by: taisa1 * fix: compile error Signed-off-by: taisa1 * refactor: simplified conditions Signed-off-by: taisa1 * fix: apply changes to projective Signed-off-by: taisa1 * fix: remove reserve from projective Signed-off-by: taisa1 * refactor: reduce too many arguments Signed-off-by: taisa1 * refactor: delete angle_increment Signed-off-by: taisa1 * fix: reflect review Signed-off-by: taisa1 * fix: build error Signed-off-by: taisa1 --------- Signed-off-by: taisa1 Co-authored-by: atsushi yano <55824710+atsushi421@users.noreply.github.com> --- .../costmap_2d/occupancy_grid_map_base.hpp | 43 ++++++++ .../costmap_2d/occupancy_grid_map_fixed.hpp | 1 + .../occupancy_grid_map_projective.hpp | 1 + .../utils/utils.hpp | 2 + .../costmap_2d/occupancy_grid_map_base.cpp | 28 ++++- .../costmap_2d/occupancy_grid_map_fixed.cpp | 103 ++++++++++++------ .../occupancy_grid_map_projective.cpp | 94 ++++++++++------ .../lib/utils/utils.cpp | 7 ++ ...intcloud_based_occupancy_grid_map_node.cpp | 55 ++++++---- 9 files changed, 240 insertions(+), 94 deletions(-) diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp index 2b2057af9cc12..09ad0a4d554a1 100644 --- a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp @@ -52,8 +52,10 @@ #ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_ #define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_ +#include #include #include +#include #include #include @@ -85,11 +87,52 @@ class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D virtual void initRosParam(rclcpp::Node & node) = 0; + void setHeightLimit(const double min_height, const double max_height); + + double min_height_; + double max_height_; + + void setFieldOffsets(const PointCloud2 & input_raw, const PointCloud2 & input_obstacle); + + int x_offset_raw_; + int y_offset_raw_; + int z_offset_raw_; + int x_offset_obstacle_; + int y_offset_obstacle_; + int z_offset_obstacle_; + bool offset_initialized_; + + const double min_angle_ = autoware::universe_utils::deg2rad(-180.0); + const double max_angle_ = autoware::universe_utils::deg2rad(180.0); + const double angle_increment_inv_ = 1.0 / autoware::universe_utils::deg2rad(0.1); + + Eigen::Matrix4f mat_map_, mat_scan_; + + bool isPointValid(const Eigen::Vector4f & pt) const + { + // Apply height filter and exclude invalid points + return min_height_ < pt[2] && pt[2] < max_height_ && std::isfinite(pt[0]) && + std::isfinite(pt[1]) && std::isfinite(pt[2]); + } + // Transform pt to (pt_map, pt_scan), then calculate angle_bin_index and range + void transformPointAndCalculate( + const Eigen::Vector4f & pt, Eigen::Vector4f & pt_map, int & angle_bin_index, + double & range) const + { + pt_map = mat_map_ * pt; + Eigen::Vector4f pt_scan(mat_scan_ * pt_map); + const double angle = atan2(pt_scan[1], pt_scan[0]); + angle_bin_index = (angle - min_angle_) * angle_increment_inv_; + range = std::sqrt(pt_scan[1] * pt_scan[1] + pt_scan[0] * pt_scan[0]); + } + private: bool worldToMap(double wx, double wy, unsigned int & mx, unsigned int & my) const; rclcpp::Logger logger_{rclcpp::get_logger("pointcloud_based_occupancy_grid_map")}; rclcpp::Clock clock_{RCL_ROS_TIME}; + + double resolution_inv_; }; } // namespace costmap_2d diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp index 9dfd8b8689123..3301fd1987bd3 100644 --- a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp @@ -36,6 +36,7 @@ class OccupancyGridMapFixedBlindSpot : public OccupancyGridMapInterface using OccupancyGridMapInterface::raytrace; using OccupancyGridMapInterface::setCellValue; + using OccupancyGridMapInterface::setFieldOffsets; using OccupancyGridMapInterface::updateOrigin; void initRosParam(rclcpp::Node & node) override; diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp index 1f0f92d933ff3..7569a60b36466 100644 --- a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp @@ -40,6 +40,7 @@ class OccupancyGridMapProjectiveBlindSpot : public OccupancyGridMapInterface using OccupancyGridMapInterface::raytrace; using OccupancyGridMapInterface::setCellValue; + using OccupancyGridMapInterface::setFieldOffsets; using OccupancyGridMapInterface::updateOrigin; void initRosParam(rclcpp::Node & node) override; diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp index 50b470d904ef6..a8288d2720f48 100644 --- a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp @@ -97,6 +97,8 @@ void transformPointcloud( const sensor_msgs::msg::PointCloud2 & input, const geometry_msgs::msg::Pose & pose, sensor_msgs::msg::PointCloud2 & output); +Eigen::Matrix4f getTransformMatrix(const geometry_msgs::msg::Pose & pose); + bool cropPointcloudByHeight( const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, const std::string & target_frame, const float min_height, const float max_height, diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp index 5e9b5598c8f63..39855ec36260c 100644 --- a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp @@ -80,17 +80,21 @@ OccupancyGridMapInterface::OccupancyGridMapInterface( const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) : Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION) { + min_height_ = -std::numeric_limits::infinity(); + max_height_ = std::numeric_limits::infinity(); + resolution_inv_ = 1.0 / resolution_; + offset_initialized_ = false; } -bool OccupancyGridMapInterface::worldToMap( +inline bool OccupancyGridMapInterface::worldToMap( double wx, double wy, unsigned int & mx, unsigned int & my) const { if (wx < origin_x_ || wy < origin_y_) { return false; } - mx = static_cast(std::floor((wx - origin_x_) / resolution_)); - my = static_cast(std::floor((wy - origin_y_) / resolution_)); + mx = static_cast(std::floor((wx - origin_x_) * resolution_inv_)); + my = static_cast(std::floor((wy - origin_y_) * resolution_inv_)); if (mx < size_x_ && my < size_y_) { return true; @@ -232,5 +236,23 @@ void OccupancyGridMapInterface::raytrace( raytraceLine(marker, x0, y0, x1, y1, cell_raytrace_range); } +void OccupancyGridMapInterface::setHeightLimit(const double min_height, const double max_height) +{ + min_height_ = min_height; + max_height_ = max_height; +} + +void OccupancyGridMapInterface::setFieldOffsets( + const PointCloud2 & input_raw, const PointCloud2 & input_obstacle) +{ + x_offset_raw_ = input_raw.fields[pcl::getFieldIndex(input_raw, "x")].offset; + y_offset_raw_ = input_raw.fields[pcl::getFieldIndex(input_raw, "y")].offset; + z_offset_raw_ = input_raw.fields[pcl::getFieldIndex(input_raw, "z")].offset; + x_offset_obstacle_ = input_obstacle.fields[pcl::getFieldIndex(input_obstacle, "x")].offset; + y_offset_obstacle_ = input_obstacle.fields[pcl::getFieldIndex(input_obstacle, "y")].offset; + z_offset_obstacle_ = input_obstacle.fields[pcl::getFieldIndex(input_obstacle, "z")].offset; + offset_initialized_ = true; +} + } // namespace costmap_2d } // namespace autoware::occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp index dffbda18d0c8a..c8af97fcf3ba0 100644 --- a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp @@ -58,21 +58,20 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, const Pose & robot_pose, const Pose & scan_origin) { - constexpr double min_angle = autoware::universe_utils::deg2rad(-180.0); - constexpr double max_angle = autoware::universe_utils::deg2rad(180.0); - constexpr double angle_increment = autoware::universe_utils::deg2rad(0.1); - const size_t angle_bin_size = ((max_angle - min_angle) / angle_increment) + size_t(1 /*margin*/); - - // Transform from base_link to map frame - PointCloud2 map_raw_pointcloud, map_obstacle_pointcloud; // point cloud in map frame - utils::transformPointcloud(raw_pointcloud, robot_pose, map_raw_pointcloud); - utils::transformPointcloud(obstacle_pointcloud, robot_pose, map_obstacle_pointcloud); - - // Transform from map frame to scan frame - PointCloud2 scan_raw_pointcloud, scan_obstacle_pointcloud; // point cloud in scan frame + const size_t angle_bin_size = + ((max_angle_ - min_angle_) * angle_increment_inv_) + size_t(1 /*margin*/); + + // Transform Matrix from base_link to map frame + mat_map_ = utils::getTransformMatrix(robot_pose); + const auto scan2map_pose = utils::getInversePose(scan_origin); // scan -> map transform pose - utils::transformPointcloud(map_raw_pointcloud, scan2map_pose, scan_raw_pointcloud); - utils::transformPointcloud(map_obstacle_pointcloud, scan2map_pose, scan_obstacle_pointcloud); + + // Transform Matrix from map frame to scan frame + mat_scan_ = utils::getTransformMatrix(scan2map_pose); + + if (!offset_initialized_) { + setFieldOffsets(raw_pointcloud, obstacle_pointcloud); + } // Create angle bins and sort by distance struct BinInfo @@ -86,41 +85,73 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( double wx; double wy; }; - std::vector> obstacle_pointcloud_angle_bins; - std::vector> raw_pointcloud_angle_bins; - obstacle_pointcloud_angle_bins.resize(angle_bin_size); - raw_pointcloud_angle_bins.resize(angle_bin_size); - for (PointCloud2ConstIterator iter_x(scan_raw_pointcloud, "x"), - iter_y(scan_raw_pointcloud, "y"), iter_wx(map_raw_pointcloud, "x"), - iter_wy(map_raw_pointcloud, "y"); - iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_wx, ++iter_wy) { - const double angle = atan2(*iter_y, *iter_x); - const int angle_bin_index = (angle - min_angle) / angle_increment; - raw_pointcloud_angle_bins.at(angle_bin_index) - .push_back(BinInfo(std::hypot(*iter_y, *iter_x), *iter_wx, *iter_wy)); + + std::vector> obstacle_pointcloud_angle_bins(angle_bin_size); + std::vector> raw_pointcloud_angle_bins(angle_bin_size); + + const size_t raw_pointcloud_size = raw_pointcloud.width * raw_pointcloud.height; + const size_t obstacle_pointcloud_size = obstacle_pointcloud.width * obstacle_pointcloud.height; + + // Reserve a certain amount of memory in advance for performance reasons + const size_t raw_reserve_size = raw_pointcloud_size / angle_bin_size; + const size_t obstacle_reserve_size = obstacle_pointcloud_size / angle_bin_size; + for (size_t i = 0; i < angle_bin_size; i++) { + raw_pointcloud_angle_bins[i].reserve(raw_reserve_size); + obstacle_pointcloud_angle_bins[i].reserve(obstacle_reserve_size); + } + + // Updated every loop inside transformPointAndCalculate() + Eigen::Vector4f pt_map; + int angle_bin_index; + double range; + + size_t global_offset = 0; + for (size_t i = 0; i < raw_pointcloud_size; ++i) { + Eigen::Vector4f pt( + *reinterpret_cast(&raw_pointcloud.data[global_offset + x_offset_raw_]), + *reinterpret_cast(&raw_pointcloud.data[global_offset + y_offset_raw_]), + *reinterpret_cast(&raw_pointcloud.data[global_offset + z_offset_raw_]), 1); + global_offset += raw_pointcloud.point_step; + if (!isPointValid(pt)) { + continue; + } + transformPointAndCalculate(pt, pt_map, angle_bin_index, range); + + raw_pointcloud_angle_bins.at(angle_bin_index).emplace_back(range, pt_map[0], pt_map[1]); } + for (auto & raw_pointcloud_angle_bin : raw_pointcloud_angle_bins) { std::sort(raw_pointcloud_angle_bin.begin(), raw_pointcloud_angle_bin.end(), [](auto a, auto b) { return a.range < b.range; }); } - // create and sort bin for obstacle pointcloud - for (PointCloud2ConstIterator iter_x(scan_obstacle_pointcloud, "x"), - iter_y(scan_obstacle_pointcloud, "y"), iter_wx(map_obstacle_pointcloud, "x"), - iter_wy(map_obstacle_pointcloud, "y"); - iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_wx, ++iter_wy) { - const double angle = atan2(*iter_y, *iter_x); - const int angle_bin_index = (angle - min_angle) / angle_increment; - const double range = std::hypot(*iter_y, *iter_x); + + // Create obstacle angle bins and sort points by range + global_offset = 0; + for (size_t i = 0; i < obstacle_pointcloud_size; ++i) { + Eigen::Vector4f pt( + *reinterpret_cast( + &obstacle_pointcloud.data[global_offset + x_offset_obstacle_]), + *reinterpret_cast( + &obstacle_pointcloud.data[global_offset + y_offset_obstacle_]), + *reinterpret_cast( + &obstacle_pointcloud.data[global_offset + z_offset_obstacle_]), + 1); + global_offset += obstacle_pointcloud.point_step; + if (!isPointValid(pt)) { + continue; + } + transformPointAndCalculate(pt, pt_map, angle_bin_index, range); + // Ignore obstacle points exceed the range of the raw points if (raw_pointcloud_angle_bins.at(angle_bin_index).empty()) { continue; // No raw point in this angle bin } else if (range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) { continue; // Obstacle point exceeds the range of the raw points } - obstacle_pointcloud_angle_bins.at(angle_bin_index) - .push_back(BinInfo(range, *iter_wx, *iter_wy)); + obstacle_pointcloud_angle_bins.at(angle_bin_index).emplace_back(range, pt_map[0], pt_map[1]); } + for (auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) { std::sort( obstacle_pointcloud_angle_bin.begin(), obstacle_pointcloud_angle_bin.end(), diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp index 39224bc7e3a69..f5f2c70ae6dfc 100644 --- a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp @@ -59,21 +59,20 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, const Pose & robot_pose, const Pose & scan_origin) { - constexpr double min_angle = autoware::universe_utils::deg2rad(-180.0); - constexpr double max_angle = autoware::universe_utils::deg2rad(180.0); - constexpr double angle_increment = autoware::universe_utils::deg2rad(0.1); - const size_t angle_bin_size = ((max_angle - min_angle) / angle_increment) + size_t(1 /*margin*/); + const size_t angle_bin_size = + ((max_angle_ - min_angle_) * angle_increment_inv_) + size_t(1 /*margin*/); // Transform from base_link to map frame - PointCloud2 map_raw_pointcloud, map_obstacle_pointcloud; // point cloud in map frame - utils::transformPointcloud(raw_pointcloud, robot_pose, map_raw_pointcloud); - utils::transformPointcloud(obstacle_pointcloud, robot_pose, map_obstacle_pointcloud); + mat_map_ = utils::getTransformMatrix(robot_pose); - // Transform from map frame to scan frame - PointCloud2 scan_raw_pointcloud, scan_obstacle_pointcloud; // point cloud in scan frame const auto scan2map_pose = utils::getInversePose(scan_origin); // scan -> map transform pose - utils::transformPointcloud(map_raw_pointcloud, scan2map_pose, scan_raw_pointcloud); - utils::transformPointcloud(map_obstacle_pointcloud, scan2map_pose, scan_obstacle_pointcloud); + + // Transform from map frame to scan frame + mat_scan_ = utils::getTransformMatrix(scan2map_pose); + + if (!offset_initialized_) { + setFieldOffsets(raw_pointcloud, obstacle_pointcloud); + } // Create angle bins and sort points by range struct BinInfo3D @@ -100,57 +99,82 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( double projected_wy; }; - std::vector> obstacle_pointcloud_angle_bins; - std::vector> raw_pointcloud_angle_bins; - obstacle_pointcloud_angle_bins.resize(angle_bin_size); - raw_pointcloud_angle_bins.resize(angle_bin_size); - for (PointCloud2ConstIterator iter_x(scan_raw_pointcloud, "x"), - iter_y(scan_raw_pointcloud, "y"), iter_wx(map_raw_pointcloud, "x"), - iter_wy(map_raw_pointcloud, "y"), iter_wz(map_raw_pointcloud, "z"); - iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_wx, ++iter_wy, ++iter_wz) { - const double angle = atan2(*iter_y, *iter_x); - const int angle_bin_index = (angle - min_angle) / angle_increment; + std::vector> obstacle_pointcloud_angle_bins(angle_bin_size); + std::vector> raw_pointcloud_angle_bins(angle_bin_size); + + const size_t raw_pointcloud_size = raw_pointcloud.width * raw_pointcloud.height; + const size_t obstacle_pointcloud_size = obstacle_pointcloud.width * obstacle_pointcloud.height; + + // Updated every loop inside transformPointAndCalculate() + Eigen::Vector4f pt_map; + int angle_bin_index; + double range; + + size_t global_offset = 0; + for (size_t i = 0; i < raw_pointcloud_size; i++) { + Eigen::Vector4f pt( + *reinterpret_cast(&raw_pointcloud.data[global_offset + x_offset_raw_]), + *reinterpret_cast(&raw_pointcloud.data[global_offset + y_offset_raw_]), + *reinterpret_cast(&raw_pointcloud.data[global_offset + z_offset_raw_]), 1); + global_offset += raw_pointcloud.point_step; + if (!isPointValid(pt)) { + continue; + } + transformPointAndCalculate(pt, pt_map, angle_bin_index, range); + raw_pointcloud_angle_bins.at(angle_bin_index) - .emplace_back(std::hypot(*iter_y, *iter_x), *iter_wx, *iter_wy, *iter_wz); + .emplace_back(range, pt_map[0], pt_map[1], pt_map[2]); } + for (auto & raw_pointcloud_angle_bin : raw_pointcloud_angle_bins) { std::sort(raw_pointcloud_angle_bin.begin(), raw_pointcloud_angle_bin.end(), [](auto a, auto b) { return a.range < b.range; }); } + // Create obstacle angle bins and sort points by range - for (PointCloud2ConstIterator iter_x(scan_obstacle_pointcloud, "x"), - iter_y(scan_obstacle_pointcloud, "y"), iter_z(scan_obstacle_pointcloud, "z"), - iter_wx(map_obstacle_pointcloud, "x"), iter_wy(map_obstacle_pointcloud, "y"), - iter_wz(map_obstacle_pointcloud, "z"); - iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++iter_wx, ++iter_wy, ++iter_wz) { + global_offset = 0; + for (size_t i = 0; i < obstacle_pointcloud_size; i++) { + Eigen::Vector4f pt( + *reinterpret_cast( + &obstacle_pointcloud.data[global_offset + x_offset_obstacle_]), + *reinterpret_cast( + &obstacle_pointcloud.data[global_offset + y_offset_obstacle_]), + *reinterpret_cast( + &obstacle_pointcloud.data[global_offset + z_offset_obstacle_]), + 1); + global_offset += obstacle_pointcloud.point_step; + if (!isPointValid(pt)) { + continue; + } + transformPointAndCalculate(pt, pt_map, angle_bin_index, range); const double scan_z = scan_origin.position.z - robot_pose.position.z; - const double obstacle_z = (*iter_wz) - robot_pose.position.z; + const double obstacle_z = (pt_map[2]) - robot_pose.position.z; const double dz = scan_z - obstacle_z; - const double angle = atan2(*iter_y, *iter_x); - const int angle_bin_index = (angle - min_angle) / angle_increment; - const double range = std::hypot(*iter_x, *iter_y); + // Ignore obstacle points exceed the range of the raw points if (raw_pointcloud_angle_bins.at(angle_bin_index).empty()) { continue; // No raw point in this angle bin } else if (range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) { continue; // Obstacle point exceeds the range of the raw points } + if (dz > projection_dz_threshold_) { const double ratio = obstacle_z / dz; const double projection_length = range * ratio; - const double projected_wx = (*iter_wx) + ((*iter_wx) - scan_origin.position.x) * ratio; - const double projected_wy = (*iter_wy) + ((*iter_wy) - scan_origin.position.y) * ratio; + const double projected_wx = (pt_map[0]) + ((pt_map[0]) - scan_origin.position.x) * ratio; + const double projected_wy = (pt_map[1]) + ((pt_map[1]) - scan_origin.position.y) * ratio; obstacle_pointcloud_angle_bins.at(angle_bin_index) .emplace_back( - range, *iter_wx, *iter_wy, *iter_wz, projection_length, projected_wx, projected_wy); + range, pt_map[0], pt_map[1], pt_map[2], projection_length, projected_wx, projected_wy); } else { obstacle_pointcloud_angle_bins.at(angle_bin_index) .emplace_back( - range, *iter_wx, *iter_wy, *iter_wz, std::numeric_limits::infinity(), + range, pt_map[0], pt_map[1], pt_map[2], std::numeric_limits::infinity(), std::numeric_limits::infinity(), std::numeric_limits::infinity()); } } + for (auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) { std::sort( obstacle_pointcloud_angle_bin.begin(), obstacle_pointcloud_angle_bin.end(), diff --git a/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp b/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp index e8c2cdb2617df..902de2148cffe 100644 --- a/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp +++ b/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp @@ -60,6 +60,13 @@ void transformPointcloud( output.header.frame_id = ""; } +Eigen::Matrix4f getTransformMatrix(const geometry_msgs::msg::Pose & pose) +{ + auto transform = autoware::universe_utils::pose2transform(pose); + Eigen::Matrix4f tf_matrix = tf2::transformToEigen(transform).matrix().cast(); + return tf_matrix; +} + bool cropPointcloudByHeight( const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, const std::string & target_frame, const float min_height, const float max_height, diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp index 3fe75263b3f28..0d772e73c1ad8 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp @@ -37,6 +37,7 @@ #endif #include +#include #include #include @@ -141,33 +142,46 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( scan_origin_frame_ = input_raw_msg->header.frame_id; } - // Apply height filter - PointCloud2 cropped_obstacle_pc{}; - PointCloud2 cropped_raw_pc{}; + PointCloud2 trans_input_raw{}, trans_input_obstacle{}; + bool is_raw_transformed = false; + bool is_obstacle_transformed = false; + + // Prepare for applying height filter if (use_height_filter_) { - if (!utils::cropPointcloudByHeight( - *input_obstacle_msg, *tf2_, base_link_frame_, min_height_, max_height_, - cropped_obstacle_pc)) { - return; + // Make sure that the frame is base_link + if (input_raw_msg->header.frame_id != base_link_frame_) { + if (!utils::transformPointcloud(*input_raw_msg, *tf2_, base_link_frame_, trans_input_raw)) { + return; + } + is_raw_transformed = true; } - if (!utils::cropPointcloudByHeight( - *input_raw_msg, *tf2_, base_link_frame_, min_height_, max_height_, cropped_raw_pc)) { - return; + if (input_obstacle_msg->header.frame_id != base_link_frame_) { + if (!utils::transformPointcloud( + *input_obstacle_msg, *tf2_, base_link_frame_, trans_input_obstacle)) { + return; + } + is_obstacle_transformed = true; } + occupancy_grid_map_ptr_->setHeightLimit(min_height_, max_height_); + } else { + occupancy_grid_map_ptr_->setHeightLimit( + -std::numeric_limits::infinity(), std::numeric_limits::infinity()); } - const PointCloud2 & filtered_obstacle_pc = - use_height_filter_ ? cropped_obstacle_pc : *input_obstacle_msg; - const PointCloud2 & filtered_raw_pc = use_height_filter_ ? cropped_raw_pc : *input_raw_msg; + + const PointCloud2::ConstSharedPtr input_raw_use = + is_raw_transformed ? std::make_shared(trans_input_raw) : input_raw_msg; + const PointCloud2::ConstSharedPtr input_obstacle_use = + is_obstacle_transformed ? std::make_shared(trans_input_obstacle) + : input_obstacle_msg; // Filter obstacle pointcloud by raw pointcloud - PointCloud2 filtered_obstacle_pc_common{}; + PointCloud2 input_obstacle_pc_common{}; + bool use_input_obstacle_pc_common = false; if (filter_obstacle_pointcloud_by_raw_pointcloud_) { - if (!utils::extractCommonPointCloud( - filtered_obstacle_pc, filtered_raw_pc, filtered_obstacle_pc_common)) { - filtered_obstacle_pc_common = filtered_obstacle_pc; + if (utils::extractCommonPointCloud( + *input_obstacle_use, *input_raw_use, input_obstacle_pc_common)) { + use_input_obstacle_pc_common = true; } - } else { - filtered_obstacle_pc_common = filtered_obstacle_pc; } // Get from map to sensor frame pose @@ -191,7 +205,8 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( gridmap_origin.position.x - occupancy_grid_map_ptr_->getSizeInMetersX() / 2, gridmap_origin.position.y - occupancy_grid_map_ptr_->getSizeInMetersY() / 2); occupancy_grid_map_ptr_->updateWithPointCloud( - filtered_raw_pc, filtered_obstacle_pc_common, robot_pose, scan_origin); + *input_raw_use, (use_input_obstacle_pc_common ? input_obstacle_pc_common : *input_obstacle_use), + robot_pose, scan_origin); if (enable_single_frame_mode_) { // publish From ad54f239c9e67af82c5bcd6592bb7d3f54750ebc Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 16:50:29 +0900 Subject: [PATCH 187/306] fix(predicted_path_checker): fix constParameterReference (#8038) fix:constParameterReference Signed-off-by: kobayu858 --- .../include/predicted_path_checker/utils.hpp | 2 +- .../src/predicted_path_checker_node/utils.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp b/control/predicted_path_checker/include/predicted_path_checker/utils.hpp index 6f5c0e5cdb883..77d6df2021c8f 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp +++ b/control/predicted_path_checker/include/predicted_path_checker/utils.hpp @@ -65,7 +65,7 @@ TrajectoryPoint calcInterpolatedPoint( std::pair findStopPoint( TrajectoryPoints & predicted_trajectory_array, const size_t collision_idx, - const double stop_margin, autoware::vehicle_info_utils::VehicleInfo & vehicle_info); + const double stop_margin, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info); bool isInBrakeDistance( const TrajectoryPoints & trajectory, const size_t stop_idx, const double relative_velocity, diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp index d750f3aa07248..48640b21b6064 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp @@ -148,7 +148,7 @@ TrajectoryPoint calcInterpolatedPoint( std::pair findStopPoint( TrajectoryPoints & trajectory_array, const size_t collision_idx, const double stop_margin, - autoware::vehicle_info_utils::VehicleInfo & vehicle_info) + const autoware::vehicle_info_utils::VehicleInfo & vehicle_info) { // It returns the stop point and segment of the point on trajectory. From 5704fad74444e9dfa884e1c72e0c2990e3c1ad76 Mon Sep 17 00:00:00 2001 From: Koichi98 <45482193+Koichi98@users.noreply.github.com> Date: Tue, 16 Jul 2024 18:06:43 +0900 Subject: [PATCH 188/306] fix(image_projection_based_fusion): fix invalidPointerCast (#7927) * fix(image_projection_based_fusion): fix invalidPointerCast add cppcheck-suppress for reinterpret_cast Signed-off-by: Koichi Imai Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/pointpainting_fusion/node.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp index ffeb47d3123a3..5289fc27f9d1c 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -322,9 +322,11 @@ dc | dc dc dc dc ||zc| int stride = p_step * i; unsigned char * data = &painted_pointcloud_msg.data[0]; unsigned char * output = &painted_pointcloud_msg.data[0]; + // cppcheck-suppress-begin invalidPointerCast float p_x = *reinterpret_cast(&data[stride + x_offset]); float p_y = *reinterpret_cast(&data[stride + y_offset]); float p_z = *reinterpret_cast(&data[stride + z_offset]); + // cppcheck-suppress-end invalidPointerCast point_lidar << p_x, p_y, p_z; point_camera = lidar2cam_affine * point_lidar; p_x = point_camera.x(); @@ -345,6 +347,7 @@ dc | dc dc dc dc ||zc| int label2d = feature_object.object.classification.front().label; if (!isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, p_z)) { data = &painted_pointcloud_msg.data[0]; + // cppcheck-suppress invalidPointerCast auto p_class = reinterpret_cast(&output[stride + class_offset]); for (const auto & cls : isClassTable_) { // add up the class values if the point belongs to multiple classes From b3d76708094ee9d76c11e4985499c8a8f279e3df Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 16 Jul 2024 19:30:24 +0900 Subject: [PATCH 189/306] feat(static_obstacle_avoidance): integrate time keeper to major functions (#8044) Signed-off-by: satoshi-ota --- .../src/scene.cpp | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index b4a3bba0ee508..b5b9378618a60 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -24,6 +24,7 @@ #include "autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp" #include "autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp" +#include #include #include @@ -194,6 +195,7 @@ bool StaticObstacleAvoidanceModule::canTransitSuccessState() void StaticObstacleAvoidanceModule::fillFundamentalData( AvoidancePlanningData & data, DebugData & debug) { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // reference pose data.reference_pose = utils::getUnshiftedEgoPose(getEgoPose(), helper_->getPreviousSplineShiftPath()); @@ -314,6 +316,7 @@ void StaticObstacleAvoidanceModule::fillFundamentalData( void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects( AvoidancePlanningData & data, DebugData & debug) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); using utils::static_obstacle_avoidance::filterTargetObjects; using utils::static_obstacle_avoidance::separateObjectsByPath; using utils::static_obstacle_avoidance::updateRoadShoulderDistance; @@ -368,6 +371,7 @@ void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects( void StaticObstacleAvoidanceModule::fillAvoidanceTargetData(ObjectDataArray & objects) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); using utils::static_obstacle_avoidance::fillAvoidanceNecessity; using utils::static_obstacle_avoidance::fillObjectStoppableJudge; @@ -384,6 +388,7 @@ void StaticObstacleAvoidanceModule::fillAvoidanceTargetData(ObjectDataArray & ob ObjectData StaticObstacleAvoidanceModule::createObjectData( const AvoidancePlanningData & data, const PredictedObject & object) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); using boost::geometry::return_centroid; const auto & path_points = data.reference_path.points; @@ -425,6 +430,7 @@ ObjectData StaticObstacleAvoidanceModule::createObjectData( bool StaticObstacleAvoidanceModule::canYieldManeuver(const AvoidancePlanningData & data) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // transit yield maneuver only when the avoidance maneuver is not initiated. if (helper_->isShifted()) { RCLCPP_DEBUG(getLogger(), "avoidance maneuver already initiated."); @@ -478,6 +484,7 @@ bool StaticObstacleAvoidanceModule::canYieldManeuver(const AvoidancePlanningData void StaticObstacleAvoidanceModule::fillShiftLine( AvoidancePlanningData & data, DebugData & debug) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); auto path_shifter = path_shifter_; /** @@ -530,6 +537,7 @@ void StaticObstacleAvoidanceModule::fillShiftLine( void StaticObstacleAvoidanceModule::fillEgoStatus( AvoidancePlanningData & data, [[maybe_unused]] DebugData & debug) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); data.state = getCurrentModuleState(data); /** @@ -624,6 +632,7 @@ void StaticObstacleAvoidanceModule::fillEgoStatus( void StaticObstacleAvoidanceModule::fillDebugData( const AvoidancePlanningData & data, [[maybe_unused]] DebugData & debug) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (!data.stop_target_object) { return; } @@ -704,6 +713,7 @@ void StaticObstacleAvoidanceModule::updateEgoBehavior( bool StaticObstacleAvoidanceModule::isSafePath( ShiftedPath & shifted_path, [[maybe_unused]] DebugData & debug) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & p = planner_data_->parameters; if (!parameters_->enable_safety_check) { @@ -812,6 +822,7 @@ bool StaticObstacleAvoidanceModule::isSafePath( PathWithLaneId StaticObstacleAvoidanceModule::extendBackwardLength( const PathWithLaneId & original_path) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto previous_path = helper_->getPreviousReferencePath(); const auto longest_dist_to_shift_point = [&]() { @@ -874,6 +885,7 @@ PathWithLaneId StaticObstacleAvoidanceModule::extendBackwardLength( BehaviorModuleOutput StaticObstacleAvoidanceModule::plan() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; resetPathCandidate(); @@ -1031,6 +1043,7 @@ BehaviorModuleOutput StaticObstacleAvoidanceModule::plan() CandidateOutput StaticObstacleAvoidanceModule::planCandidate() const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; CandidateOutput output; @@ -1070,6 +1083,7 @@ CandidateOutput StaticObstacleAvoidanceModule::planCandidate() const BehaviorModuleOutput StaticObstacleAvoidanceModule::planWaitingApproval() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); BehaviorModuleOutput out = plan(); if (path_shifter_.getShiftLines().empty()) { @@ -1126,6 +1140,7 @@ void StaticObstacleAvoidanceModule::updatePathShifter(const AvoidLineArray & shi void StaticObstacleAvoidanceModule::addNewShiftLines( PathShifter & path_shifter, const AvoidLineArray & new_shift_lines) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); ShiftLineArray future = utils::static_obstacle_avoidance::toShiftLineArray(new_shift_lines); size_t min_start_idx = std::numeric_limits::max(); @@ -1192,6 +1207,7 @@ void StaticObstacleAvoidanceModule::addNewShiftLines( bool StaticObstacleAvoidanceModule::isValidShiftLine( const AvoidLineArray & shift_lines, const PathShifter & shifter) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (shift_lines.empty()) { return true; } @@ -1267,6 +1283,7 @@ bool StaticObstacleAvoidanceModule::isValidShiftLine( void StaticObstacleAvoidanceModule::updateData() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); using utils::static_obstacle_avoidance::toShiftedPath; helper_->setData(planner_data_); @@ -1351,6 +1368,7 @@ void StaticObstacleAvoidanceModule::initRTCStatus() void StaticObstacleAvoidanceModule::updateRTCData() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; updateRegisteredRTCStatus(helper_->getPreviousSplineShiftPath().path); @@ -1386,6 +1404,7 @@ void StaticObstacleAvoidanceModule::updateRTCData() void StaticObstacleAvoidanceModule::updateInfoMarker(const AvoidancePlanningData & data) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); using utils::static_obstacle_avoidance::createAmbiguousObjectsMarkerArray; using utils::static_obstacle_avoidance::createStopTargetObjectMarkerArray; using utils::static_obstacle_avoidance::createTargetObjectsMarkerArray; @@ -1403,6 +1422,7 @@ void StaticObstacleAvoidanceModule::updateInfoMarker(const AvoidancePlanningData void StaticObstacleAvoidanceModule::updateDebugMarker( const AvoidancePlanningData & data, const PathShifter & shifter, const DebugData & debug) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); debug_marker_.markers.clear(); debug_marker_ = utils::static_obstacle_avoidance::createDebugMarkerArray(data, shifter, debug, parameters_); @@ -1427,6 +1447,7 @@ void StaticObstacleAvoidanceModule::updateAvoidanceDebugData( double StaticObstacleAvoidanceModule::calcDistanceToStopLine(const ObjectData & object) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & p = parameters_; const auto & vehicle_width = planner_data_->parameters.vehicle_width; @@ -1468,6 +1489,7 @@ double StaticObstacleAvoidanceModule::calcDistanceToStopLine(const ObjectData & void StaticObstacleAvoidanceModule::insertReturnDeadLine( const bool use_constraints_for_decel, ShiftedPath & shifted_path) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; if (data.to_return_point > planner_data_->parameters.forward_path_length) { @@ -1545,6 +1567,7 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( void StaticObstacleAvoidanceModule::insertWaitPoint( const bool use_constraints_for_decel, ShiftedPath & shifted_path) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; // If avoidance path is NOT valid, don't insert any stop points. @@ -1593,6 +1616,7 @@ void StaticObstacleAvoidanceModule::insertWaitPoint( void StaticObstacleAvoidanceModule::insertStopPoint( const bool use_constraints_for_decel, ShiftedPath & shifted_path) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; if (data.safe) { @@ -1640,6 +1664,7 @@ void StaticObstacleAvoidanceModule::insertStopPoint( void StaticObstacleAvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; // If avoidance path is NOT safe, don't insert any slow down sections. @@ -1752,6 +1777,7 @@ void StaticObstacleAvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_ void StaticObstacleAvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifted_path) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; // do nothing if no shift line is approved. From 270e75766995d96532a416560b90bef19fc48573 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 20:43:23 +0900 Subject: [PATCH 190/306] fix(autoware_behavior_velocity_run_out_module): fix constParameterReference (#8050) fix:constParameterReference Signed-off-by: kobayu858 --- .../autoware_behavior_velocity_run_out_module/src/utils.cpp | 2 +- .../autoware_behavior_velocity_run_out_module/src/utils.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp index 537d647883ad4..4f03dadc0555a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp @@ -166,7 +166,7 @@ void insertPathVelocityFromIndex( } } -std::optional findFirstStopPointIdx(PathPointsWithLaneId & path_points) +std::optional findFirstStopPointIdx(const PathPointsWithLaneId & path_points) { for (size_t i = 0; i < path_points.size(); i++) { const auto vel = path_points.at(i).point.longitudinal_velocity_mps; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp index 5f5b7206551ef..f96d9f966265f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp @@ -235,7 +235,7 @@ void insertPathVelocityFromIndexLimited( void insertPathVelocityFromIndex( const size_t & start_idx, const float velocity_mps, PathPointsWithLaneId & path_points); -std::optional findFirstStopPointIdx(PathPointsWithLaneId & path_points); +std::optional findFirstStopPointIdx(const PathPointsWithLaneId & path_points); LineString2d createLineString2d(const lanelet::BasicPolygon2d & poly); From 171a110e1ebd1b7052e4e20e5e66013df264bec0 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 20:43:47 +0900 Subject: [PATCH 191/306] fix(autoware_motion_velocity_out_of_lane_module): fix constParameterReference (#8051) fix:constParameterReference Signed-off-by: kobayu858 --- .../src/lanelets_selection.cpp | 2 +- .../src/lanelets_selection.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp index bfa38e544227f..d04ae920a7d6a 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp @@ -36,7 +36,7 @@ lanelet::ConstLanelets consecutive_lanelets( } lanelet::ConstLanelets get_missing_lane_change_lanelets( - lanelet::ConstLanelets & trajectory_lanelets, + const lanelet::ConstLanelets & trajectory_lanelets, const std::shared_ptr route_handler) { lanelet::ConstLanelets missing_lane_change_lanelets; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp index 8618d808d7d40..94023ae08ad99 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp @@ -51,7 +51,7 @@ lanelet::ConstLanelets calculate_trajectory_lanelets( /// @return lanelets that may be overlapped by a lane change (and are not already in /// trajectory_lanelets) lanelet::ConstLanelets get_missing_lane_change_lanelets( - lanelet::ConstLanelets & trajectory_lanelets, + const lanelet::ConstLanelets & trajectory_lanelets, const std::shared_ptr route_handler); /// @brief calculate lanelets that should be ignored /// @param [in] ego_data data about the ego vehicle From 17fa28c84b04a06ed2076c98cb9f785093a793c1 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 20:44:18 +0900 Subject: [PATCH 192/306] fix(autoware_behavior_path_planner_common): fix constParameterReference (#8045) fix:constParameterReference Signed-off-by: kobayu858 --- .../utils/parking_departure/utils.hpp | 2 +- .../src/utils/parking_departure/utils.cpp | 2 +- .../src/utils/path_shifter/path_shifter.cpp | 6 +++--- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp index e5066932df88e..d34bfeb535f19 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp @@ -54,7 +54,7 @@ void modifyVelocityByDirection( const double acceleration); void updatePathProperty( - std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & ego_predicted_path_params, const std::pair & pairs_terminal_velocity_and_accel); void initializeCollisionCheckDebugMap(CollisionCheckDebugMap & collision_check_debug_map); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp index 7ca11e7d7fd20..4301742a18fa7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp @@ -86,7 +86,7 @@ void modifyVelocityByDirection( } void updatePathProperty( - std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & ego_predicted_path_params, const std::pair & pairs_terminal_velocity_and_accel) { // If acceleration is close to 0, the ego predicted path will be too short, so a minimum value is diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp index f88efa49f10ff..8a6c899b4bd6d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp @@ -501,7 +501,7 @@ void PathShifter::removeBehindShiftLineAndSetBaseOffset(const size_t nearest_idx if (!removed_shift_lines.empty()) { const auto last_removed_sl = std::max_element( removed_shift_lines.begin(), removed_shift_lines.end(), - [](auto & a, auto & b) { return a.end_idx > b.end_idx; }); + [](const auto & a, const auto & b) { return a.end_idx > b.end_idx; }); new_base_offset = last_removed_sl->end_shift_length; } @@ -630,7 +630,7 @@ double PathShifter::getLastShiftLength() const const auto furthest = std::max_element( shift_lines_.begin(), shift_lines_.end(), - [](auto & a, auto & b) { return a.end_idx < b.end_idx; }); + [](const auto & a, const auto & b) { return a.end_idx < b.end_idx; }); return furthest->end_shift_length; } @@ -643,7 +643,7 @@ std::optional PathShifter::getLastShiftLine() const const auto furthest = std::max_element( shift_lines_.begin(), shift_lines_.end(), - [](auto & a, auto & b) { return a.end_idx > b.end_idx; }); + [](const auto & a, const auto & b) { return a.end_idx > b.end_idx; }); return *furthest; } From 4d4b32b88367ea42420914b4cb24f10515419d0f Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 20:47:20 +0900 Subject: [PATCH 193/306] fix(autoware_behavior_velocity_crosswalk_module): fix shadowVariable (#7974) * fix:shadowVariable Signed-off-by: kobayu858 * fix:shadowVariable Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/scene_crosswalk.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 786828d72dcb3..1e6658987f522 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -382,7 +382,6 @@ std::optional CrosswalkModule::checkStopForCrosswalkUsers( // Check if ego moves forward enough to ignore yield. const auto & p = planner_param_; if (!path_intersects.empty()) { - const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; const double dist_ego2crosswalk = calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()); const auto braking_distance_opt = From e247419f4973fe3caa6bf03d680b06015e6f0f7b Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 16 Jul 2024 20:48:08 +0900 Subject: [PATCH 194/306] fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix funcArgNamesDifferent (#8025) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../src/occupancy_grid_utils.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.hpp index f1d5b69714772..4acdfa7945fb1 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.hpp @@ -28,7 +28,7 @@ namespace autoware::motion_velocity_planner::obstacle_velocity_limiter /// @brief mask gridmap cells that are inside the given polygons /// @param[in, out] grid_map the grid map to modify /// @param[in] polygons the polygons to mask from the grid map -void maskPolygons(grid_map::GridMap & grid_map, const ObstacleMasks & masks); +void maskPolygons(grid_map::GridMap & grid_map, const ObstacleMasks & obstacle_masks); /// @brief apply a threshold to the grid map /// @param[in, out] grid_map the grid map to modify From 092e7369136fc4593c64f3428653d1de1822d556 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 16 Jul 2024 21:40:02 +0900 Subject: [PATCH 195/306] refactor(cluster_merger): add package name prefix of autoware_ (#8001) Signed-off-by: badai-nguyen --- .github/CODEOWNERS | 2 +- .../detection/detector/camera_lidar_detector.launch.xml | 2 +- launch/tier4_perception_launch/package.xml | 2 +- .../CMakeLists.txt | 2 +- .../{cluster_merger => autoware_cluster_merger}/README.md | 4 ++-- .../config/cluster_merger.param.yaml | 0 .../launch/cluster_merger.launch.xml | 4 ++-- .../{cluster_merger => autoware_cluster_merger}/package.xml | 2 +- .../src/cluster_merger_node.cpp | 0 .../src/cluster_merger_node.hpp | 0 10 files changed, 9 insertions(+), 9 deletions(-) rename perception/{cluster_merger => autoware_cluster_merger}/CMakeLists.txt (94%) rename perception/{cluster_merger => autoware_cluster_merger}/README.md (94%) rename perception/{cluster_merger => autoware_cluster_merger}/config/cluster_merger.param.yaml (100%) rename perception/{cluster_merger => autoware_cluster_merger}/launch/cluster_merger.launch.xml (67%) rename perception/{cluster_merger => autoware_cluster_merger}/package.xml (96%) rename perception/{cluster_merger => autoware_cluster_merger}/src/cluster_merger_node.cpp (100%) rename perception/{cluster_merger => autoware_cluster_merger}/src/cluster_merger_node.hpp (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index a59a5d9ac224e..c9eb36def90b8 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -113,7 +113,7 @@ perception/autoware_radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp s perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp perception/autoware_radar_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp -perception/cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp perception/detected_object_feature_remover/** tomoya.kimura@tier4.jp perception/detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml index fba0144e6cee1..7dc697f0e8532 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml @@ -158,7 +158,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 349472ed5f8d3..69d28f8577358 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -13,6 +13,7 @@ ament_cmake_auto autoware_cmake + autoware_cluster_merger autoware_crosswalk_traffic_light_estimator autoware_map_based_prediction autoware_object_range_splitter @@ -21,7 +22,6 @@ autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker - cluster_merger compare_map_segmentation detected_object_feature_remover detected_object_validation diff --git a/perception/cluster_merger/CMakeLists.txt b/perception/autoware_cluster_merger/CMakeLists.txt similarity index 94% rename from perception/cluster_merger/CMakeLists.txt rename to perception/autoware_cluster_merger/CMakeLists.txt index 773cea6383f41..ce666be317d6c 100644 --- a/perception/cluster_merger/CMakeLists.txt +++ b/perception/autoware_cluster_merger/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(cluster_merger) +project(autoware_cluster_merger) # find dependencies find_package(autoware_cmake REQUIRED) diff --git a/perception/cluster_merger/README.md b/perception/autoware_cluster_merger/README.md similarity index 94% rename from perception/cluster_merger/README.md rename to perception/autoware_cluster_merger/README.md index 6b719a1e5a480..771e6eb0342f0 100644 --- a/perception/cluster_merger/README.md +++ b/perception/autoware_cluster_merger/README.md @@ -1,8 +1,8 @@ -# cluster merger +# autoware cluster merger ## Purpose -cluster_merger is a package for merging pointcloud clusters as detected objects with feature type. +autoware_cluster_merger is a package for merging pointcloud clusters as detected objects with feature type. ## Inner-working / Algorithms diff --git a/perception/cluster_merger/config/cluster_merger.param.yaml b/perception/autoware_cluster_merger/config/cluster_merger.param.yaml similarity index 100% rename from perception/cluster_merger/config/cluster_merger.param.yaml rename to perception/autoware_cluster_merger/config/cluster_merger.param.yaml diff --git a/perception/cluster_merger/launch/cluster_merger.launch.xml b/perception/autoware_cluster_merger/launch/cluster_merger.launch.xml similarity index 67% rename from perception/cluster_merger/launch/cluster_merger.launch.xml rename to perception/autoware_cluster_merger/launch/cluster_merger.launch.xml index f0f90efe051a0..40bdf643fbecf 100644 --- a/perception/cluster_merger/launch/cluster_merger.launch.xml +++ b/perception/autoware_cluster_merger/launch/cluster_merger.launch.xml @@ -3,9 +3,9 @@ - + - + diff --git a/perception/cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml similarity index 96% rename from perception/cluster_merger/package.xml rename to perception/autoware_cluster_merger/package.xml index 17455dc27b6cc..41bcdb27b1387 100644 --- a/perception/cluster_merger/package.xml +++ b/perception/autoware_cluster_merger/package.xml @@ -1,7 +1,7 @@ - cluster_merger + autoware_cluster_merger 0.1.0 The ROS 2 cluster merger package Yukihiro Saito diff --git a/perception/cluster_merger/src/cluster_merger_node.cpp b/perception/autoware_cluster_merger/src/cluster_merger_node.cpp similarity index 100% rename from perception/cluster_merger/src/cluster_merger_node.cpp rename to perception/autoware_cluster_merger/src/cluster_merger_node.cpp diff --git a/perception/cluster_merger/src/cluster_merger_node.hpp b/perception/autoware_cluster_merger/src/cluster_merger_node.hpp similarity index 100% rename from perception/cluster_merger/src/cluster_merger_node.hpp rename to perception/autoware_cluster_merger/src/cluster_merger_node.hpp From 7ac93ef95b0b7e9fdc753abdee8788b79716c451 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 16 Jul 2024 23:11:00 +0900 Subject: [PATCH 196/306] refactor(raindrop_cluster_filter): add package name prefix of autoware_ (#8000) * refactor(raindrop_cluster_filter): add package name prefix of autoware_ Signed-off-by: badai-nguyen * fix: typo Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .github/CODEOWNERS | 2 +- .../detection/detector/camera_lidar_detector.launch.xml | 2 +- launch/tier4_perception_launch/package.xml | 2 +- .../CMakeLists.txt | 2 +- .../config/low_intensity_cluster_filter.param.yaml | 0 .../launch/low_intensity_cluster_filter.launch.xml | 4 ++-- .../package.xml | 2 +- .../raindrop_cluster_filter.md | 0 .../src/low_intensity_cluster_filter_node.cpp | 0 .../src/low_intensity_cluster_filter_node.hpp | 0 10 files changed, 7 insertions(+), 7 deletions(-) rename perception/{raindrop_cluster_filter => autoware_raindrop_cluster_filter}/CMakeLists.txt (94%) rename perception/{raindrop_cluster_filter => autoware_raindrop_cluster_filter}/config/low_intensity_cluster_filter.param.yaml (100%) rename perception/{raindrop_cluster_filter => autoware_raindrop_cluster_filter}/launch/low_intensity_cluster_filter.launch.xml (71%) rename perception/{raindrop_cluster_filter => autoware_raindrop_cluster_filter}/package.xml (96%) rename perception/{raindrop_cluster_filter => autoware_raindrop_cluster_filter}/raindrop_cluster_filter.md (100%) rename perception/{raindrop_cluster_filter => autoware_raindrop_cluster_filter}/src/low_intensity_cluster_filter_node.cpp (100%) rename perception/{raindrop_cluster_filter => autoware_raindrop_cluster_filter}/src/low_intensity_cluster_filter_node.hpp (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index c9eb36def90b8..5f404100345f3 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -132,7 +132,7 @@ perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.sait 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 -perception/raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml index 7dc697f0e8532..9256e90ec3e35 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml @@ -213,7 +213,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 69d28f8577358..e9208c1cc2ffe 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -22,6 +22,7 @@ autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker + autoware_raindrop_cluster_filter compare_map_segmentation detected_object_feature_remover detected_object_validation @@ -38,7 +39,6 @@ pointcloud_preprocessor pointcloud_to_laserscan probabilistic_occupancy_grid_map - raindrop_cluster_filter shape_estimation topic_tools tracking_object_merger diff --git a/perception/raindrop_cluster_filter/CMakeLists.txt b/perception/autoware_raindrop_cluster_filter/CMakeLists.txt similarity index 94% rename from perception/raindrop_cluster_filter/CMakeLists.txt rename to perception/autoware_raindrop_cluster_filter/CMakeLists.txt index 17eef97cc2f52..cc58bd4a80c12 100644 --- a/perception/raindrop_cluster_filter/CMakeLists.txt +++ b/perception/autoware_raindrop_cluster_filter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(raindrop_cluster_filter) +project(autoware_raindrop_cluster_filter) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) diff --git a/perception/raindrop_cluster_filter/config/low_intensity_cluster_filter.param.yaml b/perception/autoware_raindrop_cluster_filter/config/low_intensity_cluster_filter.param.yaml similarity index 100% rename from perception/raindrop_cluster_filter/config/low_intensity_cluster_filter.param.yaml rename to perception/autoware_raindrop_cluster_filter/config/low_intensity_cluster_filter.param.yaml diff --git a/perception/raindrop_cluster_filter/launch/low_intensity_cluster_filter.launch.xml b/perception/autoware_raindrop_cluster_filter/launch/low_intensity_cluster_filter.launch.xml similarity index 71% rename from perception/raindrop_cluster_filter/launch/low_intensity_cluster_filter.launch.xml rename to perception/autoware_raindrop_cluster_filter/launch/low_intensity_cluster_filter.launch.xml index 9af4ad47055f9..36d8664579070 100644 --- a/perception/raindrop_cluster_filter/launch/low_intensity_cluster_filter.launch.xml +++ b/perception/autoware_raindrop_cluster_filter/launch/low_intensity_cluster_filter.launch.xml @@ -3,9 +3,9 @@ - + - + diff --git a/perception/raindrop_cluster_filter/package.xml b/perception/autoware_raindrop_cluster_filter/package.xml similarity index 96% rename from perception/raindrop_cluster_filter/package.xml rename to perception/autoware_raindrop_cluster_filter/package.xml index a660e42dd91ce..eea7dda76d4aa 100644 --- a/perception/raindrop_cluster_filter/package.xml +++ b/perception/autoware_raindrop_cluster_filter/package.xml @@ -1,7 +1,7 @@ - raindrop_cluster_filter + autoware_raindrop_cluster_filter 0.1.0 The ROS 2 filter cluster package Yukihiro Saito diff --git a/perception/raindrop_cluster_filter/raindrop_cluster_filter.md b/perception/autoware_raindrop_cluster_filter/raindrop_cluster_filter.md similarity index 100% rename from perception/raindrop_cluster_filter/raindrop_cluster_filter.md rename to perception/autoware_raindrop_cluster_filter/raindrop_cluster_filter.md diff --git a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp b/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp similarity index 100% rename from perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp rename to perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp diff --git a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp b/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp similarity index 100% rename from perception/raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp rename to perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp From 455742b46c14628f84f063f7eee5823ec89d5349 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 17 Jul 2024 10:22:57 +0900 Subject: [PATCH 197/306] refactor(detection_by_tracker): add package name prefix of autoware_ (#7998) Signed-off-by: badai-nguyen --- .github/CODEOWNERS | 2 +- .../detector/tracker_based_detector.launch.xml | 4 ++-- launch/tier4_perception_launch/package.xml | 2 +- .../CMakeLists.txt | 2 +- .../README.md | 6 +++--- .../config/detection_by_tracker.param.yaml | 0 .../image/purpose.svg | 0 .../image/segmentation_fail.png | Bin .../launch/detection_by_tracker.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../schema/detection_by_tracker.schema.json | 0 .../src/debugger/debugger.hpp | 0 .../src/detection_by_tracker_node.cpp | 0 .../src/detection_by_tracker_node.hpp | 0 .../src/tracker/tracker_handler.cpp | 0 .../src/tracker/tracker_handler.hpp | 0 .../src/utils/utils.hpp | 0 17 files changed, 12 insertions(+), 12 deletions(-) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/CMakeLists.txt (95%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/README.md (92%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/config/detection_by_tracker.param.yaml (100%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/image/purpose.svg (100%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/image/segmentation_fail.png (100%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/launch/detection_by_tracker.launch.xml (75%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/package.xml (90%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/schema/detection_by_tracker.schema.json (100%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/src/debugger/debugger.hpp (100%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/src/detection_by_tracker_node.cpp (100%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/src/detection_by_tracker_node.hpp (100%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/src/tracker/tracker_handler.cpp (100%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/src/tracker/tracker_handler.hpp (100%) rename perception/{detection_by_tracker => autoware_detection_by_tracker}/src/utils/utils.hpp (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 5f404100345f3..47ddd77bdf68e 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -117,7 +117,7 @@ perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.j perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp perception/detected_object_feature_remover/** tomoya.kimura@tier4.jp perception/detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp shintaro.tomie@tier4.jp taichi.higashide@tier4.jp perception/euclidean_cluster/** dai.nguyen@tier4.jp yukihiro.saito@tier4.jp perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml index b85d4b02847b3..681febf1c5551 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index e9208c1cc2ffe..db2968f735a37 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -15,6 +15,7 @@ autoware_cluster_merger autoware_crosswalk_traffic_light_estimator + autoware_detection_by_tracker autoware_map_based_prediction autoware_object_range_splitter autoware_object_velocity_splitter @@ -26,7 +27,6 @@ compare_map_segmentation detected_object_feature_remover detected_object_validation - detection_by_tracker elevation_map_loader euclidean_cluster ground_segmentation diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/autoware_detection_by_tracker/CMakeLists.txt similarity index 95% rename from perception/detection_by_tracker/CMakeLists.txt rename to perception/autoware_detection_by_tracker/CMakeLists.txt index c019b2be77587..695e284459cc1 100644 --- a/perception/detection_by_tracker/CMakeLists.txt +++ b/perception/autoware_detection_by_tracker/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(detection_by_tracker) +project(autoware_detection_by_tracker) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/perception/detection_by_tracker/README.md b/perception/autoware_detection_by_tracker/README.md similarity index 92% rename from perception/detection_by_tracker/README.md rename to perception/autoware_detection_by_tracker/README.md index 9c54c4fa7f4af..44cb287872f39 100644 --- a/perception/detection_by_tracker/README.md +++ b/perception/autoware_detection_by_tracker/README.md @@ -1,16 +1,16 @@ -# detection_by_tracker +# autoware_detection_by_tracker ## Purpose This package feeds back the tracked objects to the detection module to keep it stable and keep detecting objects. ![purpose](image/purpose.svg) -The detection by tracker takes as input an unknown object containing a cluster of points and a tracker. +The autoware detection by tracker takes as input an unknown object containing a cluster of points and a tracker. The unknown object is optimized to fit the size of the tracker so that it can continue to be detected. ## Inner-workings / Algorithms -The detection by tracker receives an unknown object containing a point cloud and a tracker, where the unknown object is mainly shape-fitted using euclidean clustering. +The autoware detection by tracker receives an unknown object containing a point cloud and a tracker, where the unknown object is mainly shape-fitted using euclidean clustering. Shape fitting using euclidean clustering and other methods has a problem called under segmentation and over segmentation. [![segmentation_fail](image/segmentation_fail.png)](https://www.researchgate.net/figure/Examples-of-an-undersegmentation-error-top-and-an-oversegmentation-error-bottom-Each_fig1_304533062) diff --git a/perception/detection_by_tracker/config/detection_by_tracker.param.yaml b/perception/autoware_detection_by_tracker/config/detection_by_tracker.param.yaml similarity index 100% rename from perception/detection_by_tracker/config/detection_by_tracker.param.yaml rename to perception/autoware_detection_by_tracker/config/detection_by_tracker.param.yaml diff --git a/perception/detection_by_tracker/image/purpose.svg b/perception/autoware_detection_by_tracker/image/purpose.svg similarity index 100% rename from perception/detection_by_tracker/image/purpose.svg rename to perception/autoware_detection_by_tracker/image/purpose.svg diff --git a/perception/detection_by_tracker/image/segmentation_fail.png b/perception/autoware_detection_by_tracker/image/segmentation_fail.png similarity index 100% rename from perception/detection_by_tracker/image/segmentation_fail.png rename to perception/autoware_detection_by_tracker/image/segmentation_fail.png diff --git a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml b/perception/autoware_detection_by_tracker/launch/detection_by_tracker.launch.xml similarity index 75% rename from perception/detection_by_tracker/launch/detection_by_tracker.launch.xml rename to perception/autoware_detection_by_tracker/launch/detection_by_tracker.launch.xml index 3fba5cb58f8f3..932f08862dca2 100644 --- a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml +++ b/perception/autoware_detection_by_tracker/launch/detection_by_tracker.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/perception/detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml similarity index 90% rename from perception/detection_by_tracker/package.xml rename to perception/autoware_detection_by_tracker/package.xml index 50bd876ce0605..837dfae1e2ef9 100644 --- a/perception/detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -1,9 +1,9 @@ - detection_by_tracker + autoware_detection_by_tracker 1.0.0 - The ROS 2 detection_by_tracker package + The ROS 2 autoware_detection_by_tracker package Yukihiro Saito Yoshi Ri Taekjin Lee diff --git a/perception/detection_by_tracker/schema/detection_by_tracker.schema.json b/perception/autoware_detection_by_tracker/schema/detection_by_tracker.schema.json similarity index 100% rename from perception/detection_by_tracker/schema/detection_by_tracker.schema.json rename to perception/autoware_detection_by_tracker/schema/detection_by_tracker.schema.json diff --git a/perception/detection_by_tracker/src/debugger/debugger.hpp b/perception/autoware_detection_by_tracker/src/debugger/debugger.hpp similarity index 100% rename from perception/detection_by_tracker/src/debugger/debugger.hpp rename to perception/autoware_detection_by_tracker/src/debugger/debugger.hpp diff --git a/perception/detection_by_tracker/src/detection_by_tracker_node.cpp b/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp similarity index 100% rename from perception/detection_by_tracker/src/detection_by_tracker_node.cpp rename to perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp diff --git a/perception/detection_by_tracker/src/detection_by_tracker_node.hpp b/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.hpp similarity index 100% rename from perception/detection_by_tracker/src/detection_by_tracker_node.hpp rename to perception/autoware_detection_by_tracker/src/detection_by_tracker_node.hpp diff --git a/perception/detection_by_tracker/src/tracker/tracker_handler.cpp b/perception/autoware_detection_by_tracker/src/tracker/tracker_handler.cpp similarity index 100% rename from perception/detection_by_tracker/src/tracker/tracker_handler.cpp rename to perception/autoware_detection_by_tracker/src/tracker/tracker_handler.cpp diff --git a/perception/detection_by_tracker/src/tracker/tracker_handler.hpp b/perception/autoware_detection_by_tracker/src/tracker/tracker_handler.hpp similarity index 100% rename from perception/detection_by_tracker/src/tracker/tracker_handler.hpp rename to perception/autoware_detection_by_tracker/src/tracker/tracker_handler.hpp diff --git a/perception/detection_by_tracker/src/utils/utils.hpp b/perception/autoware_detection_by_tracker/src/utils/utils.hpp similarity index 100% rename from perception/detection_by_tracker/src/utils/utils.hpp rename to perception/autoware_detection_by_tracker/src/utils/utils.hpp From 5c5574777e29ac873c6c8ed230ffeae3b5fe81ab Mon Sep 17 00:00:00 2001 From: Koichi98 <45482193+Koichi98@users.noreply.github.com> Date: Wed, 17 Jul 2024 10:27:54 +0900 Subject: [PATCH 198/306] chore(cppcheck): delete invalidPointerCast from .cppcheck_suppressions (#8047) chore(cppcheck):delete invalidPointerCast from .cppcheck_suppressions Signed-off-by: Koichi Imai --- .cppcheck_suppressions | 1 - 1 file changed, 1 deletion(-) diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions index 0b484ad372448..7cfb5a52a82dd 100644 --- a/.cppcheck_suppressions +++ b/.cppcheck_suppressions @@ -6,7 +6,6 @@ constVariableReference funcArgNamesDifferent functionConst functionStatic -invalidPointerCast knownConditionTrueFalse missingInclude missingIncludeSystem From afea8fefff6bf9f4969a53c20019f8ccb9b751c3 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 17 Jul 2024 11:42:16 +0900 Subject: [PATCH 199/306] fix(steer_offset_estimator): fix link to json schema in README (#7655) Signed-off-by: Maxime CLEMENT --- vehicle/autoware_steer_offset_estimator/Readme.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vehicle/autoware_steer_offset_estimator/Readme.md b/vehicle/autoware_steer_offset_estimator/Readme.md index 164d411e31050..2cd6bd2aabe2a 100644 --- a/vehicle/autoware_steer_offset_estimator/Readme.md +++ b/vehicle/autoware_steer_offset_estimator/Readme.md @@ -46,7 +46,7 @@ ros2 bag play --clock ## Parameters -{{ json_to_markdown("vehicle/steer_offset_estimator/schema/steer_offset_estimator.schema.json") }} +{{ json_to_markdown("vehicle/autoware_steer_offset_estimator/schema/steer_offset_estimator.schema.json") }} ## Diagnostics From b4215bf342d90545faff0005a388d9ea46132dee Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 17 Jul 2024 12:53:03 +0900 Subject: [PATCH 200/306] fix(autoware_universe_utils): fix constVariableReference (#7883) fix:constVariableReference Signed-off-by: kobayu858 --- common/object_recognition_utils/src/conversion.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/common/object_recognition_utils/src/conversion.cpp b/common/object_recognition_utils/src/conversion.cpp index c8b8e6585f5a7..ac65b35c6809a 100644 --- a/common/object_recognition_utils/src/conversion.cpp +++ b/common/object_recognition_utils/src/conversion.cpp @@ -46,7 +46,7 @@ DetectedObjects toDetectedObjects(const TrackedObjects & tracked_objects) autoware_perception_msgs::msg::DetectedObjects detected_objects; detected_objects.header = tracked_objects.header; - for (auto & tracked_object : tracked_objects.objects) { + for (const auto & tracked_object : tracked_objects.objects) { detected_objects.objects.push_back(toDetectedObject(tracked_object)); } return detected_objects; @@ -74,7 +74,7 @@ TrackedObjects toTrackedObjects(const DetectedObjects & detected_objects) TrackedObjects tracked_objects; tracked_objects.header = detected_objects.header; - for (auto & detected_object : detected_objects.objects) { + for (const auto & detected_object : detected_objects.objects) { tracked_objects.objects.push_back(toTrackedObject(detected_object)); } return tracked_objects; From 607ba261167da116dac7c7a73ec2a494b867a6c2 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 17 Jul 2024 13:05:32 +0900 Subject: [PATCH 201/306] fix(learning_based_vehicle_model): fix constVariableReference (#8061) fix:constVariableReference Signed-off-by: kobayu858 --- .../src/model_connections_helpers.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp b/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp index bbd8bf7ffb546..b13f6497d2dea 100644 --- a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp +++ b/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp @@ -32,7 +32,7 @@ std::vector createConnectionsMap( std::vector connection_map; // index in "connection_map" is index in "connection_names_2" and value in "connection_map" is // index in "connection_names_1" - for (const auto & name_2 : connection_names_2) { + for (const auto * const name_2 : connection_names_2) { int mapped_idx = -1; // -1 means that we cannot create a connection between some signals for (std::size_t NAME_1_IDX = 0; NAME_1_IDX < connection_names_1.size(); NAME_1_IDX++) { if (strcmp(name_2, connection_names_1[NAME_1_IDX]) == 0) { // 0 means strings are the same From df6d2d1cceec831e918ba3dbafcb20b9cf1e8630 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 17 Jul 2024 16:25:44 +0900 Subject: [PATCH 202/306] fix(mrm_handler): add check for autonomous mode and do some refactoring (#8067) * add check for autonomous mode and do some refactoring Signed-off-by: Daniel Sanchez * add comments Signed-off-by: Daniel Sanchez * fix comment Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../src/mrm_handler/mrm_handler_core.cpp | 35 ++++++++++--------- 1 file changed, 18 insertions(+), 17 deletions(-) diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp index f2531a0556a0d..12497256fce67 100644 --- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp +++ b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp @@ -82,28 +82,29 @@ void MrmHandler::onOperationModeAvailability( const tier4_system_msgs::msg::OperationModeAvailability::ConstSharedPtr msg) { stamp_operation_mode_availability_ = this->now(); + operation_mode_availability_ = msg; + const bool skip_emergency_holding_check = + !param_.use_emergency_holding || is_emergency_holding_ || !isOperationModeAutonomous(); - if (!param_.use_emergency_holding) { - operation_mode_availability_ = msg; + if (skip_emergency_holding_check) { return; } - if (!is_emergency_holding_) { - if (msg->autonomous) { - stamp_autonomous_become_unavailable_.reset(); - } else { - if (!stamp_autonomous_become_unavailable_.has_value()) { - stamp_autonomous_become_unavailable_.emplace(this->now()); - } else { - const auto emergency_duration = - (this->now() - stamp_autonomous_become_unavailable_.value()).seconds(); - if (emergency_duration > param_.timeout_emergency_recovery) { - is_emergency_holding_ = true; - } - } - } + if (msg->autonomous) { + stamp_autonomous_become_unavailable_.reset(); + return; } - operation_mode_availability_ = msg; + + // If no timestamp is available, the ego autonomous mode just became unavailable and the current + // time is recorded. + stamp_autonomous_become_unavailable_ = (!stamp_autonomous_become_unavailable_.has_value()) + ? this->now() + : stamp_autonomous_become_unavailable_; + + // Check if autonomous mode unavailable time is larger than timeout threshold. + const auto emergency_duration = + (this->now() - stamp_autonomous_become_unavailable_.value()).seconds(); + is_emergency_holding_ = (emergency_duration > param_.timeout_emergency_recovery); } void MrmHandler::publishHazardCmd() From 6645b936b5f33140c26b8b1acd1c9613183112f8 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 17 Jul 2024 16:35:37 +0900 Subject: [PATCH 203/306] feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (#8070) Signed-off-by: Y.Hisaki --- .../scene_module_interface.hpp | 14 ++++++++++++++ .../src/scene_module_interface.cpp | 13 ++++++++++++- .../src/scene.cpp | 10 +++++++++- 3 files changed, 35 insertions(+), 2 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp index b09f00ce367dc..29f3794516ef5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp @@ -22,6 +22,7 @@ #include #include #include +#include #include #include @@ -42,6 +43,7 @@ #include // Debug +#include #include #include @@ -106,6 +108,13 @@ class SceneModuleInterface infrastructure_command_ = command; } + void setTimeKeeper(const std::shared_ptr & time_keeper) + { + time_keeper_ = time_keeper; + } + + std::shared_ptr getTimeKeeper() { return time_keeper_; } + std::optional getFirstStopPathPointIndex() { return first_stop_path_point_index_; } void setActivation(const bool activated) { activated_ = activated; } @@ -132,6 +141,7 @@ class SceneModuleInterface std::optional first_stop_path_point_index_; autoware::motion_utils::VelocityFactorInterface velocity_factor_; std::vector objects_of_interest_; + mutable std::shared_ptr time_keeper_; void setSafe(const bool safe) { @@ -215,6 +225,10 @@ class SceneModuleManagerInterface pub_infrastructure_commands_; std::shared_ptr processing_time_publisher_; + + rclcpp::Publisher::SharedPtr pub_processing_time_detail_; + + std::shared_ptr time_keeper_; }; class SceneModuleManagerInterfaceWithRTC : public SceneModuleManagerInterface diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp index a0f30cd3e33cb..350bc439a4a41 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp @@ -17,9 +17,11 @@ #include #include #include +#include #include #include +#include namespace autoware::behavior_velocity_planner { @@ -33,7 +35,8 @@ SceneModuleInterface::SceneModuleInterface( safe_(false), distance_(std::numeric_limits::lowest()), logger_(logger), - clock_(clock) + clock_(clock), + time_keeper_(std::shared_ptr()) { } @@ -71,6 +74,11 @@ SceneModuleManagerInterface::SceneModuleManagerInterface( "~/output/infrastructure_commands", 1); processing_time_publisher_ = std::make_shared(&node, "~/debug"); + + pub_processing_time_detail_ = node.create_publisher( + "~/debug/processing_time_detail_ms/" + std::string(module_name), 1); + + time_keeper_ = std::make_shared(pub_processing_time_detail_); } size_t SceneModuleManagerInterface::findEgoSegmentIndex( @@ -94,6 +102,8 @@ void SceneModuleManagerInterface::updateSceneModuleInstances( void SceneModuleManagerInterface::modifyPathVelocity( tier4_planning_msgs::msg::PathWithLaneId * path) { + universe_utils::ScopedTimeTrack st( + "SceneModuleManagerInterface::modifyPathVelocity", *time_keeper_); StopWatch stop_watch; stop_watch.tic("Total"); visualization_msgs::msg::MarkerArray debug_marker_array; @@ -177,6 +187,7 @@ void SceneModuleManagerInterface::registerModule( RCLCPP_DEBUG( logger_, "register task: module = %s, id = %lu", getModuleName(), scene_module->getModuleId()); registered_module_id_set_.emplace(scene_module->getModuleId()); + scene_module->setTimeKeeper(time_keeper_); scene_modules_.insert(scene_module); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 04ea5ca872098..c5079452f5ada 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include #include @@ -40,6 +41,8 @@ StopLineModule::StopLineModule( bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) { + universe_utils::ScopedTimeTrack st( + std::string(__func__) + " (lane_id:=" + std::to_string(module_id_) + ")", *getTimeKeeper()); debug_data_ = DebugData(); if (path->points.empty()) return true; const auto base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; @@ -50,11 +53,12 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop const LineString2d stop_line = planning_utils::extendLine( stop_line_[0], stop_line_[1], planner_data_->stop_line_extend_length); + time_keeper_->start_track("createTargetPoint"); // Calculate stop pose and insert index const auto stop_point = arc_lane_utils::createTargetPoint( *path, stop_line, planner_param_.stop_margin, planner_data_->vehicle_info_.max_longitudinal_offset_m); - + time_keeper_->end_track("createTargetPoint"); // If no collision found, do nothing if (!stop_point) { RCLCPP_DEBUG_THROTTLE(logger_, *clock_, 5000 /* ms */, "is no collision"); @@ -70,12 +74,16 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop * |----------------------------| * s---ego----------x--|--------g */ + time_keeper_->start_track( + "calcSegmentIndexFromPointIndex & findEgoSegmentIndex & calcSignedArcLength"); const size_t stop_line_seg_idx = planning_utils::calcSegmentIndexFromPointIndex( path->points, stop_pose.position, stop_point_idx); const size_t current_seg_idx = findEgoSegmentIndex(path->points); const double signed_arc_dist_to_stop_point = autoware::motion_utils::calcSignedArcLength( path->points, planner_data_->current_odometry->pose.position, current_seg_idx, stop_pose.position, stop_line_seg_idx); + time_keeper_->end_track( + "calcSegmentIndexFromPointIndex & findEgoSegmentIndex & calcSignedArcLength"); switch (state_) { case State::APPROACH: { // Insert stop pose From c20f984c2dfc3030743a6049540ca3e176d05e45 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Wed, 17 Jul 2024 17:10:04 +0900 Subject: [PATCH 204/306] fix: ml detector buffer capacity and parameterization (#7936) * fix: increased the buffer capacity in ML-based detectors (1M -> 2M due to new models) but parameterized to users can adapt it to their use cases Signed-off-by: Kenzo Lobos-Tsunekawa * chore: added schema parts Signed-off-by: Kenzo Lobos-Tsunekawa * chore: points are countable ! Signed-off-by: Kenzo Lobos-Tsunekawa --------- Signed-off-by: Kenzo Lobos-Tsunekawa --- .../config/pointpainting.param.yaml | 1 + .../pointpainting_fusion/pointpainting_trt.hpp | 1 - .../src/pointpainting_fusion/node.cpp | 7 ++++--- .../lidar_centerpoint/config/centerpoint.param.yaml | 1 + .../config/centerpoint_tiny.param.yaml | 1 + .../lidar_centerpoint/centerpoint_config.hpp | 13 ++++++++----- .../include/lidar_centerpoint/centerpoint_trt.hpp | 2 -- .../lidar_centerpoint/lib/centerpoint_trt.cpp | 4 ++-- .../lib/preprocess/voxel_generator.cpp | 2 +- .../schema/centerpoint.schemal.json | 6 ++++++ perception/lidar_centerpoint/src/node.cpp | 7 ++++--- .../lidar_transfusion/config/transfusion.param.yaml | 1 + .../lidar_transfusion/transfusion_config.hpp | 12 +++++++----- .../schema/transfusion.schema.json | 6 ++++++ .../src/lidar_transfusion_node.cpp | 9 ++++++--- 15 files changed, 48 insertions(+), 25 deletions(-) diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml index 30136bc8f47d0..9227e4fa9319a 100644 --- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml +++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml @@ -5,6 +5,7 @@ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" trt_precision: fp16 + cloud_capacity: 2000000 post_process_params: # post-process params circle_nms_dist_threshold: 0.3 diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp index d28d9eb31216d..c8318f79bbeed 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp @@ -23,7 +23,6 @@ namespace image_projection_based_fusion { -static constexpr size_t CAPACITY_POINT = 1000000; class PointPaintingTRT : public centerpoint::CenterPointTRT { public: diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp index 5289fc27f9d1c..6947331d6bcfa 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -103,6 +103,7 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt this->declare_parameter("densification_params.num_past_frames"); // network param const std::string trt_precision = this->declare_parameter("trt_precision"); + const std::size_t cloud_capacity = this->declare_parameter("cloud_capacity"); const std::string encoder_onnx_path = this->declare_parameter("encoder_onnx_path"); const std::string encoder_engine_path = this->declare_parameter("encoder_engine_path"); @@ -181,9 +182,9 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt centerpoint::DensificationParam densification_param( densification_world_frame_id, densification_num_past_frames); centerpoint::CenterPointConfig config( - class_names_.size(), point_feature_size, max_voxel_size, pointcloud_range, voxel_size, - downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, - yaw_norm_thresholds, has_variance_); + class_names_.size(), point_feature_size, cloud_capacity, max_voxel_size, pointcloud_range, + voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, + circle_nms_dist_threshold, yaw_norm_thresholds, has_variance_); // create detector detector_ptr_ = std::make_unique( diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml index 17ed9a447cdb8..53d77e8d1c42c 100644 --- a/perception/lidar_centerpoint/config/centerpoint.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml @@ -6,6 +6,7 @@ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" trt_precision: fp16 + cloud_capacity: 2000000 post_process_params: # post-process params circle_nms_dist_threshold: 0.5 diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml index 17ed9a447cdb8..53d77e8d1c42c 100644 --- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml @@ -6,6 +6,7 @@ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" trt_precision: fp16 + cloud_capacity: 2000000 post_process_params: # post-process params circle_nms_dist_threshold: 0.5 diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp index 19fdbe7a8b9c2..7b560cf46e2e3 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp @@ -24,14 +24,16 @@ class CenterPointConfig { public: explicit CenterPointConfig( - const std::size_t class_size, const float point_feature_size, const std::size_t max_voxel_size, - const std::vector & point_cloud_range, const std::vector & voxel_size, - const std::size_t downsample_factor, const std::size_t encoder_in_feature_size, - const float score_threshold, const float circle_nms_dist_threshold, - const std::vector yaw_norm_thresholds, const bool has_variance) + const std::size_t class_size, const float point_feature_size, const std::size_t cloud_capacity, + const std::size_t max_voxel_size, const std::vector & point_cloud_range, + const std::vector & voxel_size, const std::size_t downsample_factor, + const std::size_t encoder_in_feature_size, const float score_threshold, + const float circle_nms_dist_threshold, const std::vector yaw_norm_thresholds, + const bool has_variance) { class_size_ = class_size; point_feature_size_ = point_feature_size; + cloud_capacity_ = cloud_capacity; max_voxel_size_ = max_voxel_size; if (point_cloud_range.size() == 6) { range_min_x_ = static_cast(point_cloud_range[0]); @@ -85,6 +87,7 @@ class CenterPointConfig }; // input params + std::size_t cloud_capacity_{}; std::size_t class_size_{3}; const std::size_t point_dim_size_{3}; // x, y and z std::size_t point_feature_size_{4}; // x, y, z and time-lag diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp index 55157f70fcfc3..52ae86951c7cf 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp @@ -31,8 +31,6 @@ namespace centerpoint { -static constexpr size_t CAPACITY_POINT = 1000000; - class NetworkParam { public: diff --git a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp index 6f379167b0e71..5040028d1bd94 100644 --- a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp +++ b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp @@ -85,7 +85,7 @@ void CenterPointTRT::initPtr() mask_size_ = config_.grid_size_x_ * config_.grid_size_y_; // host - points_.resize(CAPACITY_POINT * config_.point_feature_size_); + points_.resize(config_.cloud_capacity_ * config_.point_feature_size_); // device voxels_d_ = cuda::make_unique(voxels_size_); @@ -100,7 +100,7 @@ void CenterPointTRT::initPtr() head_out_dim_d_ = cuda::make_unique(grid_xy_size * config_.head_out_dim_size_); head_out_rot_d_ = cuda::make_unique(grid_xy_size * config_.head_out_rot_size_); head_out_vel_d_ = cuda::make_unique(grid_xy_size * config_.head_out_vel_size_); - points_d_ = cuda::make_unique(CAPACITY_POINT * config_.point_feature_size_); + points_d_ = cuda::make_unique(config_.cloud_capacity_ * config_.point_feature_size_); voxels_buffer_d_ = cuda::make_unique(voxels_buffer_size_); mask_d_ = cuda::make_unique(mask_size_); num_voxels_d_ = cuda::make_unique(1); diff --git a/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp b/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp index e90474fa07327..8e91c3b0b36cc 100644 --- a/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp +++ b/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp @@ -61,7 +61,7 @@ std::size_t VoxelGenerator::generateSweepPoints(float * points_d, cudaStream_t s float time_lag = static_cast( pd_ptr_->getCurrentTimestamp() - rclcpp::Time(pc_cache_iter->header.stamp).seconds()); - if (point_counter + sweep_num_points > CAPACITY_POINT) { + if (point_counter + sweep_num_points > config_.cloud_capacity_) { RCLCPP_WARN_STREAM( rclcpp::get_logger("lidar_centerpoint"), "Requested number of points exceeds the maximum capacity. Current points = " diff --git a/perception/lidar_centerpoint/schema/centerpoint.schemal.json b/perception/lidar_centerpoint/schema/centerpoint.schemal.json index b11c115cc2466..c3268f0e90d9b 100644 --- a/perception/lidar_centerpoint/schema/centerpoint.schemal.json +++ b/perception/lidar_centerpoint/schema/centerpoint.schemal.json @@ -12,6 +12,12 @@ "default": "fp16", "enum": ["fp32", "fp16"] }, + "cloud_capacity": { + "type": "integer", + "description": "Capacity of the point cloud buffer (should be set to at least the maximum theoretical number of points).", + "default": 2000000, + "minimum": 1 + }, "post_process_params": { "type": "object", "properties": { diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp index 8bf62e3e0168b..53554d0a3becf 100644 --- a/perception/lidar_centerpoint/src/node.cpp +++ b/perception/lidar_centerpoint/src/node.cpp @@ -50,6 +50,7 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti const int densification_num_past_frames = this->declare_parameter("densification_params.num_past_frames"); const std::string trt_precision = this->declare_parameter("trt_precision"); + const std::size_t cloud_capacity = this->declare_parameter("cloud_capacity"); const std::string encoder_onnx_path = this->declare_parameter("encoder_onnx_path"); const std::string encoder_engine_path = this->declare_parameter("encoder_engine_path"); @@ -104,9 +105,9 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti "The size of voxel_size != 3: use the default parameters."); } CenterPointConfig config( - class_names_.size(), point_feature_size, max_voxel_size, point_cloud_range, voxel_size, - downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, - yaw_norm_thresholds, has_variance_); + class_names_.size(), point_feature_size, cloud_capacity, max_voxel_size, point_cloud_range, + voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, + circle_nms_dist_threshold, yaw_norm_thresholds, has_variance_); detector_ptr_ = std::make_unique(encoder_param, head_param, densification_param, config); diff --git a/perception/lidar_transfusion/config/transfusion.param.yaml b/perception/lidar_transfusion/config/transfusion.param.yaml index 2c6680fe50af1..af1f63c335501 100644 --- a/perception/lidar_transfusion/config/transfusion.param.yaml +++ b/perception/lidar_transfusion/config/transfusion.param.yaml @@ -3,6 +3,7 @@ # network class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] trt_precision: fp16 + cloud_capacity: 2000000 voxels_num: [5000, 30000, 60000] # [min, opt, max] point_cloud_range: [-92.16, -92.16, -3.0, 92.16, 92.16, 7.0] # [x_min, y_min, z_min, x_max, y_max, z_max] voxel_size: [0.24, 0.24, 10.0] # [x, y, z] diff --git a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp b/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp index 0ad3ab2231f50..0d0148d2f6c17 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp +++ b/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp @@ -25,11 +25,13 @@ class TransfusionConfig { public: TransfusionConfig( - const std::vector & voxels_num, const std::vector & point_cloud_range, - const std::vector & voxel_size, const int num_proposals, - const float circle_nms_dist_threshold, const std::vector & yaw_norm_thresholds, - const float score_threshold) + const std::size_t cloud_capacity, const std::vector & voxels_num, + const std::vector & point_cloud_range, const std::vector & voxel_size, + const std::size_t num_proposals, const float circle_nms_dist_threshold, + const std::vector & yaw_norm_thresholds, const float score_threshold) { + cloud_capacity_ = cloud_capacity; + if (voxels_num.size() == 3) { max_voxels_ = voxels_num[2]; @@ -86,7 +88,7 @@ class TransfusionConfig } ///// INPUT PARAMETERS ///// - const std::size_t cloud_capacity_{1000000}; + std::size_t cloud_capacity_{}; ///// KERNEL PARAMETERS ///// const std::size_t threads_for_voxel_{256}; // threads number for a block const std::size_t points_per_voxel_{20}; diff --git a/perception/lidar_transfusion/schema/transfusion.schema.json b/perception/lidar_transfusion/schema/transfusion.schema.json index 7debc0edda6fb..b37de5a97e7c0 100644 --- a/perception/lidar_transfusion/schema/transfusion.schema.json +++ b/perception/lidar_transfusion/schema/transfusion.schema.json @@ -21,6 +21,12 @@ "default": "fp16", "enum": ["fp16", "fp32"] }, + "cloud_capacity": { + "type": "integer", + "description": "Capacity of the point cloud buffer (should be set to at least the maximum theoretical number of points).", + "default": 2000000, + "minimum": 1 + }, "voxels_num": { "type": "array", "items": { diff --git a/perception/lidar_transfusion/src/lidar_transfusion_node.cpp b/perception/lidar_transfusion/src/lidar_transfusion_node.cpp index 7f5833e60d6d0..a07e385208748 100644 --- a/perception/lidar_transfusion/src/lidar_transfusion_node.cpp +++ b/perception/lidar_transfusion/src/lidar_transfusion_node.cpp @@ -27,11 +27,14 @@ LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options) class_names_ = this->declare_parameter>("class_names", descriptor); const std::string trt_precision = this->declare_parameter("trt_precision", descriptor); + const std::size_t cloud_capacity = + this->declare_parameter("cloud_capacity", descriptor); const auto voxels_num = this->declare_parameter>("voxels_num", descriptor); const auto point_cloud_range = this->declare_parameter>("point_cloud_range", descriptor); const auto voxel_size = this->declare_parameter>("voxel_size", descriptor); - const int num_proposals = (this->declare_parameter("num_proposals", descriptor)); + const std::size_t num_proposals = + this->declare_parameter("num_proposals", descriptor); const std::string onnx_path = this->declare_parameter("onnx_path", descriptor); const std::string engine_path = this->declare_parameter("engine_path", descriptor); @@ -74,8 +77,8 @@ LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options) DensificationParam densification_param( densification_world_frame_id, densification_num_past_frames); TransfusionConfig config( - voxels_num, point_cloud_range, voxel_size, num_proposals, circle_nms_dist_threshold, - yaw_norm_thresholds, score_threshold); + cloud_capacity, voxels_num, point_cloud_range, voxel_size, num_proposals, + circle_nms_dist_threshold, yaw_norm_thresholds, score_threshold); const auto allow_remapping_by_area_matrix = this->declare_parameter>("allow_remapping_by_area_matrix", descriptor); From dad3ec4a19d64072f4a7b2540c8ddcd8052ae5d1 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 17 Jul 2024 17:33:56 +0900 Subject: [PATCH 205/306] fix(multi_object_tracker): fix shadowVariable (#8074) fix:shadowVariable Signed-off-by: kobayu858 --- .../lib/association/successive_shortest_path/ssp.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp b/perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp index d20992c7d183b..84333fe8a1ff6 100644 --- a/perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp +++ b/perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp @@ -330,12 +330,12 @@ void SSP::maximizeLinearAssignment( #ifndef NDEBUG // Check if the potentials are feasible potentials - for (int v = 0; v < n_nodes; ++v) { - for (auto it_incident_edge = adjacency_list.at(v).cbegin(); - it_incident_edge != adjacency_list.at(v).cend(); ++it_incident_edge) { + for (int j = 0; j < n_nodes; ++j) { + for (auto it_incident_edge = adjacency_list.at(j).cbegin(); + it_incident_edge != adjacency_list.at(j).cend(); ++it_incident_edge) { if (it_incident_edge->capacity > 0) { double reduced_cost = - it_incident_edge->cost + potentials.at(v) - potentials.at(it_incident_edge->dst); + it_incident_edge->cost + potentials.at(j) - potentials.at(it_incident_edge->dst); assert(reduced_cost >= 0); } } From 762013c18b3171b1b4ec445feb335d9b13706143 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 17 Jul 2024 17:48:55 +0900 Subject: [PATCH 206/306] fix(detected_object_validation): fix constParameterReference (#8075) fix:constParameterReference Signed-off-by: kobayu858 --- .../src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp | 2 +- .../src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp index 3fe527935c485..c5ecce714735b 100644 --- a/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp @@ -38,7 +38,7 @@ namespace bg = boost::geometry; using Shape = autoware_perception_msgs::msg::Shape; using Polygon2d = autoware::universe_utils::Polygon2d; -Validator::Validator(PointsNumThresholdParam & points_num_threshold_param) +Validator::Validator(const PointsNumThresholdParam & points_num_threshold_param) { points_num_threshold_param_.min_points_num = points_num_threshold_param.min_points_num; points_num_threshold_param_.max_points_num = points_num_threshold_param.max_points_num; diff --git a/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp index 19b42ecf9055b..54129ff7fedf7 100644 --- a/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp @@ -64,7 +64,7 @@ class Validator pcl::PointCloud::Ptr cropped_pointcloud_; public: - explicit Validator(PointsNumThresholdParam & points_num_threshold_param); + explicit Validator(const PointsNumThresholdParam & points_num_threshold_param); inline pcl::PointCloud::Ptr getDebugPointCloudWithinObject() { return cropped_pointcloud_; From 90978b2d367a5e9affb041ff8b4850df18398ea9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 17 Jul 2024 20:28:19 +0900 Subject: [PATCH 207/306] perf(dynamic_obstacle_avoidance): decrease the computation time with time_keeper (#7986) * decrease computation cost Signed-off-by: Takayuki Murooka * remove TODO Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../scene.hpp | 24 +- .../src/scene.cpp | 299 +++++++++++------- 2 files changed, 200 insertions(+), 123 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp index 6ea15a9309c3c..8f19613b50e6d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp @@ -16,7 +16,6 @@ #define AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_ #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" -#include "autoware/universe_utils/system/stop_watch.hpp" #include #include @@ -206,20 +205,20 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface std::optional lat_offset_to_avoid{std::nullopt}; bool is_collision_left{false}; bool should_be_avoided{false}; - std::vector ref_path_points_for_obj_poly; + std::vector ref_points_for_obj_poly; LatFeasiblePaths ego_lat_feasible_paths; // add additional information (not update to the latest data) void update( const MinMaxValue & arg_lon_offset_to_avoid, const MinMaxValue & arg_lat_offset_to_avoid, const bool arg_is_collision_left, const bool arg_should_be_avoided, - const std::vector & arg_ref_path_points_for_obj_poly) + const std::vector & arg_ref_points_for_obj_poly) { lon_offset_to_avoid = arg_lon_offset_to_avoid; lat_offset_to_avoid = arg_lat_offset_to_avoid; is_collision_left = arg_is_collision_left; should_be_avoided = arg_should_be_avoided; - ref_path_points_for_obj_poly = arg_ref_path_points_for_obj_poly; + ref_points_for_obj_poly = arg_ref_points_for_obj_poly; } }; @@ -317,12 +316,12 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface const std::string & uuid, const MinMaxValue & lon_offset_to_avoid, const MinMaxValue & lat_offset_to_avoid, const bool is_collision_left, const bool should_be_avoided, - const std::vector & ref_path_points_for_obj_poly) + const std::vector & ref_points_for_obj_poly) { if (object_map_.count(uuid) != 0) { object_map_.at(uuid).update( lon_offset_to_avoid, lat_offset_to_avoid, is_collision_left, should_be_avoided, - ref_path_points_for_obj_poly); + ref_points_for_obj_poly); } } @@ -409,24 +408,25 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface std::optional> calcCollisionSection( const std::vector & ego_path, const PredictedPath & obj_path) const; LatLonOffset getLateralLongitudinalOffset( - const std::vector & ego_path, const geometry_msgs::msg::Pose & obj_pose, + const std::vector & ego_points, + const geometry_msgs::msg::Pose & obj_pose, const size_t obj_seg_idx, const autoware_perception_msgs::msg::Shape & obj_shape) const; double calcValidLengthToAvoid( const PredictedPath & obj_path, const geometry_msgs::msg::Pose & obj_pose, const autoware_perception_msgs::msg::Shape & obj_shape, const bool is_object_same_direction) const; MinMaxValue calcMinMaxLongitudinalOffsetToAvoid( - const std::vector & ref_path_points_for_obj_poly, + const std::vector & ref_points_for_obj_poly, const geometry_msgs::msg::Pose & obj_pose, const Polygon2d & obj_points, const double obj_vel, const PredictedPath & obj_path, const autoware_perception_msgs::msg::Shape & obj_shape, const TimeWhileCollision & time_while_collision) const; std::optional calcMinMaxLateralOffsetToAvoidRegulatedObject( - const std::vector & ref_path_points_for_obj_poly, + const std::vector & ref_points_for_obj_poly, const Polygon2d & obj_points, const geometry_msgs::msg::Point & obj_pos, const double obj_vel, const bool is_collision_left, const double obj_normal_vel, const std::optional & prev_object) const; std::optional calcMinMaxLateralOffsetToAvoidUnregulatedObject( - const std::vector & ref_path_points_for_obj_poly, + const std::vector & ref_points_for_obj_poly, const std::optional & prev_object, const DynamicAvoidanceObject & object) const; std::pair getAdjacentLanes( @@ -454,10 +454,6 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface std::shared_ptr parameters_; TargetObjectsManager target_objects_manager_; - - mutable autoware::universe_utils::StopWatch< - std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> - stop_watch_; }; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index 7fa9ed012b2b9..4d8cdef20a67a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -113,11 +113,11 @@ std::optional getObjectFromUuid(const std::vector & objects, const std::st } std::pair projectObstacleVelocityToTrajectory( - const std::vector & path_points, const PredictedObject & object) + const std::vector & path_points, const PredictedObject & object, + const size_t obj_idx) { const auto & obj_pose = object.kinematics.initial_pose_with_covariance.pose; const double obj_yaw = tf2::getYaw(obj_pose.orientation); - const size_t obj_idx = autoware::motion_utils::findNearestIndex(path_points, obj_pose.position); const double path_yaw = tf2::getYaw(path_points.at(obj_idx).point.pose.orientation); const Eigen::Rotation2Dd R_ego_to_obstacle(obj_yaw - path_yaw); @@ -170,12 +170,9 @@ double calcObstacleWidth(const autoware_perception_msgs::msg::Shape & shape) double calcDiffAngleAgainstPath( const std::vector & path_points, - const geometry_msgs::msg::Pose & target_pose) + const geometry_msgs::msg::Pose & target_pose, const size_t target_idx) { - const size_t nearest_idx = - autoware::motion_utils::findNearestIndex(path_points, target_pose.position); - const double traj_yaw = tf2::getYaw(path_points.at(nearest_idx).point.pose.orientation); - + const double traj_yaw = tf2::getYaw(path_points.at(target_idx).point.pose.orientation); const double target_yaw = tf2::getYaw(target_pose.orientation); const double diff_yaw = autoware::universe_utils::normalizeRadian(target_yaw - traj_yaw); @@ -202,32 +199,30 @@ double calcDiffAngleAgainstPath( } double calcDistanceToPath( - const std::vector & path_points, - const geometry_msgs::msg::Point & target_pos) + const std::vector & points, + const geometry_msgs::msg::Point & target_pos, const size_t target_idx) { - const size_t target_idx = autoware::motion_utils::findNearestIndex(path_points, target_pos); - if (target_idx == 0 || target_idx == path_points.size() - 1) { - const double target_yaw = tf2::getYaw(path_points.at(target_idx).point.pose.orientation); - const double angle_to_target_pos = autoware::universe_utils::calcAzimuthAngle( - path_points.at(target_idx).point.pose.position, target_pos); + if (target_idx == 0 || target_idx == points.size() - 1) { + const double target_yaw = tf2::getYaw(points.at(target_idx).orientation); + const double angle_to_target_pos = + autoware::universe_utils::calcAzimuthAngle(points.at(target_idx).position, target_pos); const double diff_yaw = autoware::universe_utils::normalizeRadian(angle_to_target_pos - target_yaw); if ( (target_idx == 0 && (diff_yaw < -M_PI_2 || M_PI_2 < diff_yaw)) || - (target_idx == path_points.size() - 1 && (-M_PI_2 < diff_yaw && diff_yaw < M_PI_2))) { - return autoware::universe_utils::calcDistance2d(path_points.at(target_idx), target_pos); + (target_idx == points.size() - 1 && (-M_PI_2 < diff_yaw && diff_yaw < M_PI_2))) { + return autoware::universe_utils::calcDistance2d(points.at(target_idx), target_pos); } } - return std::abs(autoware::motion_utils::calcLateralOffset(path_points, target_pos)); + return std::abs(autoware::motion_utils::calcLateralOffset(points, target_pos)); } bool isLeft( const std::vector & path_points, - const geometry_msgs::msg::Point & target_pos) + const geometry_msgs::msg::Point & target_pos, const size_t target_idx) { - const size_t target_idx = autoware::motion_utils::findNearestIndex(path_points, target_pos); const double target_yaw = tf2::getYaw(path_points.at(target_idx).point.pose.orientation); const double angle_to_target_pos = autoware::universe_utils::calcAzimuthAngle( path_points.at(target_idx).point.pose.position, target_pos); @@ -303,6 +298,32 @@ std::vector convertToPoints( } return points; } + +// NOTE: Giving PathPointWithLaneId to autoware_motion_utils functions +// cost a lot. Instead, using Pose is much faster (around x10). +std::vector toGeometryPoints( + const std::vector & path_points) +{ + std::vector geom_points; + for (const auto & path_point : path_points) { + geom_points.push_back(path_point.point.pose); + } + return geom_points; +} + +size_t getNearestIndexFromSegmentIndex( + const std::vector & points, const size_t seg_idx, + const geometry_msgs::msg::Point & target_pos) +{ + const double first_dist = + autoware::universe_utils::calcDistance2d(points.at(seg_idx), target_pos); + const double second_dist = + autoware::universe_utils::calcDistance2d(points.at(seg_idx + 1), target_pos); + if (first_dist < second_dist) { + return seg_idx; + } + return seg_idx + 1; +} } // namespace DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule( @@ -351,7 +372,7 @@ bool DynamicObstacleAvoidanceModule::isExecutionReady() const void DynamicObstacleAvoidanceModule::updateData() { - // stop_watch_.tic(std::string(__func__)); + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); info_marker_.markers.clear(); debug_marker_.markers.clear(); @@ -377,11 +398,6 @@ void DynamicObstacleAvoidanceModule::updateData() target_objects_.push_back(target_object_candidate); } } - - // const double calculation_time = stop_watch_.toc(std::string(__func__)); - // RCLCPP_INFO_STREAM_EXPRESSION( - // getLogger(), parameters_->enable_debug_info, __func__ << ":=" << calculation_time << " - // [ms]"); } bool DynamicObstacleAvoidanceModule::canTransitSuccessState() @@ -391,8 +407,6 @@ bool DynamicObstacleAvoidanceModule::canTransitSuccessState() BehaviorModuleOutput DynamicObstacleAvoidanceModule::plan() { - // stop_watch_.tic(std::string(__func__)); - const auto & input_path = getPreviousModuleOutput().path; if (input_path.points.empty()) { throw std::runtime_error("input path is empty"); @@ -440,11 +454,6 @@ BehaviorModuleOutput DynamicObstacleAvoidanceModule::plan() output.turn_signal_info = getPreviousModuleOutput().turn_signal_info; output.modified_goal = getPreviousModuleOutput().modified_goal; - // const double calculation_time = stop_watch_.toc(std::string(__func__)); - // RCLCPP_INFO_STREAM_EXPRESSION( - // getLogger(), parameters_->enable_debug_info, __func__ << ":=" << calculation_time << " - // [ms]"); - return output; } @@ -494,7 +503,10 @@ ObjectType DynamicObstacleAvoidanceModule::getObjectType(const uint8_t label) co void DynamicObstacleAvoidanceModule::registerRegulatedObjects( const std::vector & prev_objects) { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + const auto input_path = getPreviousModuleOutput().path; + const auto input_points = toGeometryPoints(input_path.points); // for efficient computation const auto & predicted_objects = planner_data_->dynamic_object->objects; for (const auto & predicted_object : predicted_objects) { @@ -508,6 +520,10 @@ void DynamicObstacleAvoidanceModule::registerRegulatedObjects( predicted_object.kinematics.predicted_paths.begin(), predicted_object.kinematics.predicted_paths.end(), [](const PredictedPath & a, const PredictedPath & b) { return a.confidence < b.confidence; }); + const size_t obj_seg_idx = + autoware::motion_utils::findNearestSegmentIndex(input_points, obj_pose.position); + const size_t obj_idx = + getNearestIndexFromSegmentIndex(input_points, obj_seg_idx, obj_pose.position); // 1.a. check label if (getObjectType(predicted_object.classification.front().label) != ObjectType::REGULATED) { @@ -516,7 +532,7 @@ void DynamicObstacleAvoidanceModule::registerRegulatedObjects( // 1.b. check obstacle velocity const auto [obj_tangent_vel, obj_normal_vel] = - projectObstacleVelocityToTrajectory(input_path.points, predicted_object); + projectObstacleVelocityToTrajectory(input_path.points, predicted_object, obj_idx); if ( std::abs(obj_tangent_vel) < parameters_->min_obstacle_vel || parameters_->max_obstacle_vel < std::abs(obj_tangent_vel)) { @@ -524,7 +540,7 @@ void DynamicObstacleAvoidanceModule::registerRegulatedObjects( } // 1.c. check if object is not crossing ego's path - const double obj_angle = calcDiffAngleAgainstPath(input_path.points, obj_pose); + const double obj_angle = calcDiffAngleAgainstPath(input_path.points, obj_pose, obj_idx); const double max_crossing_object_angle = 0.0 <= obj_tangent_vel ? parameters_->max_overtaking_crossing_object_angle : parameters_->max_oncoming_crossing_object_angle; @@ -544,7 +560,7 @@ void DynamicObstacleAvoidanceModule::registerRegulatedObjects( } // 1.e. check if object lateral offset to ego's path is small enough - const double obj_dist_to_path = calcDistanceToPath(input_path.points, obj_pose.position); + const double obj_dist_to_path = calcDistanceToPath(input_points, obj_pose.position, obj_idx); const bool is_object_far_from_path = isObjectFarFromPath(predicted_object, obj_dist_to_path); if (is_object_far_from_path) { RCLCPP_INFO_EXPRESSION( @@ -582,7 +598,10 @@ void DynamicObstacleAvoidanceModule::registerRegulatedObjects( void DynamicObstacleAvoidanceModule::registerUnregulatedObjects( const std::vector & prev_objects) { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + const auto input_path = getPreviousModuleOutput().path; + const auto input_points = toGeometryPoints(input_path.points); // for efficient computation const auto & predicted_objects = planner_data_->dynamic_object->objects; for (const auto & predicted_object : predicted_objects) { @@ -596,6 +615,10 @@ void DynamicObstacleAvoidanceModule::registerUnregulatedObjects( predicted_object.kinematics.predicted_paths.begin(), predicted_object.kinematics.predicted_paths.end(), [](const PredictedPath & a, const PredictedPath & b) { return a.confidence < b.confidence; }); + const size_t obj_seg_idx = + autoware::motion_utils::findNearestSegmentIndex(input_points, obj_pose.position); + const size_t obj_idx = + getNearestIndexFromSegmentIndex(input_points, obj_seg_idx, obj_pose.position); // 1.a. Check if the obstacle is labeled as pedestrians, bicycle or similar. if (getObjectType(predicted_object.classification.front().label) != ObjectType::UNREGULATED) { @@ -604,7 +627,7 @@ void DynamicObstacleAvoidanceModule::registerUnregulatedObjects( // 1.b. Check if the object's velocity is within the module's coverage range. const auto [obj_tangent_vel, obj_normal_vel] = - projectObstacleVelocityToTrajectory(input_path.points, predicted_object); + projectObstacleVelocityToTrajectory(input_path.points, predicted_object, obj_idx); if ( obj_vel_norm < parameters_->min_obstacle_vel || obj_vel_norm > parameters_->max_obstacle_vel) { @@ -626,7 +649,7 @@ void DynamicObstacleAvoidanceModule::registerUnregulatedObjects( // 1.f. calculate the object is on ego's path or not const double dist_obj_center_to_path = - std::abs(autoware::motion_utils::calcLateralOffset(input_path.points, obj_pose.position)); + std::abs(autoware::motion_utils::calcLateralOffset(input_points, obj_pose.position)); const bool is_object_on_ego_path = dist_obj_center_to_path < planner_data_->parameters.vehicle_width / 2.0 + parameters_->min_obj_lat_offset_to_ego_path; @@ -656,7 +679,10 @@ void DynamicObstacleAvoidanceModule::registerUnregulatedObjects( void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects( const std::vector & prev_objects) { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + const auto & input_path = getPreviousModuleOutput().path; + const auto input_points = toGeometryPoints(input_path.points); // for efficient computation for (const auto & object : target_objects_manager_.getValidObjects()) { if (getObjectType(object.label) != ObjectType::REGULATED) { @@ -668,11 +694,15 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObje const auto obj_path = *std::max_element( object.predicted_paths.begin(), object.predicted_paths.end(), [](const PredictedPath & a, const PredictedPath & b) { return a.confidence < b.confidence; }); + const size_t obj_seg_idx = + autoware::motion_utils::findNearestSegmentIndex(input_points, object.pose.position); + const size_t obj_idx = + getNearestIndexFromSegmentIndex(input_points, obj_seg_idx, object.pose.position); - const auto & ref_path_points_for_obj_poly = input_path.points; + const auto & ref_points_for_obj_poly = input_points; // 2.a. check if object is not to be followed by ego - const double obj_angle = calcDiffAngleAgainstPath(input_path.points, object.pose); + const double obj_angle = calcDiffAngleAgainstPath(input_path.points, object.pose, obj_idx); const bool is_object_aligned_to_path = std::abs(obj_angle) < parameters_->max_front_object_angle || M_PI - parameters_->max_front_object_angle < std::abs(obj_angle); @@ -686,9 +716,9 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObje } // 2.b. calculate which side object exists against ego's path - const bool is_object_left = isLeft(input_path.points, object.pose.position); + const bool is_object_left = isLeft(input_path.points, object.pose.position, obj_idx); const auto lat_lon_offset = - getLateralLongitudinalOffset(input_path.points, object.pose, object.shape); + getLateralLongitudinalOffset(input_points, object.pose, obj_seg_idx, object.shape); // 2.c. check if object will not cut in const bool will_object_cut_in = @@ -759,7 +789,10 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObje } const auto future_obj_pose = object_recognition_utils::calcInterpolatedPose(obj_path, time_to_collision); - return future_obj_pose ? isLeft(input_path.points, future_obj_pose->position) + const size_t future_obj_idx = + autoware::motion_utils::findNearestIndex(input_path.points, future_obj_pose->position); + + return future_obj_pose ? isLeft(input_path.points, future_obj_pose->position, future_obj_idx) : is_object_left; }(); @@ -790,10 +823,10 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObje // "ego_path_base" const auto obj_points = autoware::universe_utils::toPolygon2d(object.pose, object.shape); const auto lon_offset_to_avoid = calcMinMaxLongitudinalOffsetToAvoid( - ref_path_points_for_obj_poly, object.pose, obj_points, object.vel, obj_path, object.shape, + ref_points_for_obj_poly, object.pose, obj_points, object.vel, obj_path, object.shape, time_while_collision); const auto lat_offset_to_avoid = calcMinMaxLateralOffsetToAvoidRegulatedObject( - ref_path_points_for_obj_poly, obj_points, object.pose.position, object.vel, is_collision_left, + ref_points_for_obj_poly, obj_points, object.pose.position, object.vel, is_collision_left, object.lat_vel, prev_object); if (!lat_offset_to_avoid) { @@ -808,7 +841,7 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObje const bool should_be_avoided = true; target_objects_manager_.updateObjectVariables( obj_uuid, lon_offset_to_avoid, *lat_offset_to_avoid, is_collision_left, should_be_avoided, - ref_path_points_for_obj_poly); + ref_points_for_obj_poly); } // prev_input_ref_path_points_ = input_ref_path_points; } @@ -816,23 +849,31 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObje void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstUnregulatedObjects( const std::vector & prev_objects) { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + const auto & input_path = getPreviousModuleOutput().path; + const auto input_points = toGeometryPoints(input_path.points); // for efficient computation + const size_t ego_seg_idx = planner_data_->findEgoSegmentIndex(input_path.points); for (const auto & object : target_objects_manager_.getValidObjects()) { if (getObjectType(object.label) != ObjectType::UNREGULATED) { continue; } + const size_t obj_seg_idx = + autoware::motion_utils::findNearestSegmentIndex(input_points, object.pose.position); const auto obj_uuid = object.uuid; - const auto & ref_path_points_for_obj_poly = input_path.points; + const auto & ref_points_for_obj_poly = input_points; // 2.g. check if the ego is not ahead of the object. + time_keeper_->start_track("getLateralLongitudinalOffset"); const auto lat_lon_offset = - getLateralLongitudinalOffset(input_path.points, object.pose, object.shape); + getLateralLongitudinalOffset(input_points, object.pose, obj_seg_idx, object.shape); + time_keeper_->end_track("getLateralLongitudinalOffset"); + const double signed_dist_ego_to_obj = [&]() { - const size_t ego_seg_idx = planner_data_->findEgoSegmentIndex(input_path.points); const double lon_offset_ego_to_obj = autoware::motion_utils::calcSignedArcLength( - input_path.points, getEgoPose().position, ego_seg_idx, lat_lon_offset.nearest_idx); + input_points, getEgoPose().position, ego_seg_idx, lat_lon_offset.nearest_idx); if (0 < lon_offset_ego_to_obj) { return std::max( 0.0, lon_offset_ego_to_obj - planner_data_->parameters.front_overhang + @@ -854,7 +895,7 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstUnregulatedOb // 2.h. calculate longitudinal and lateral offset to avoid to generate object polygon by // "ego_path_base" const auto lat_offset_to_avoid = calcMinMaxLateralOffsetToAvoidUnregulatedObject( - ref_path_points_for_obj_poly, getObstacleFromUuid(prev_objects, obj_uuid), object); + ref_points_for_obj_poly, getObstacleFromUuid(prev_objects, obj_uuid), object); if (!lat_offset_to_avoid) { RCLCPP_INFO_EXPRESSION( getLogger(), parameters_->enable_debug_info, @@ -870,7 +911,7 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstUnregulatedOb const bool should_be_avoided = true; target_objects_manager_.updateObjectVariables( obj_uuid, lon_offset_to_avoid, *lat_offset_to_avoid, is_collision_left, should_be_avoided, - ref_path_points_for_obj_poly); + ref_points_for_obj_poly); } } @@ -1186,30 +1227,54 @@ DynamicObstacleAvoidanceModule::getAdjacentLanes( DynamicObstacleAvoidanceModule::LatLonOffset DynamicObstacleAvoidanceModule::getLateralLongitudinalOffset( - const std::vector & ego_path, const geometry_msgs::msg::Pose & obj_pose, + const std::vector & ego_points, + const geometry_msgs::msg::Pose & obj_pose, const size_t obj_seg_idx, const autoware_perception_msgs::msg::Shape & obj_shape) const { - const size_t obj_seg_idx = - autoware::motion_utils::findNearestSegmentIndex(ego_path, obj_pose.position); - const auto obj_points = autoware::universe_utils::toPolygon2d(obj_pose, obj_shape); - // TODO(murooka) calculation is not so accurate. std::vector obj_lat_offset_vec; std::vector obj_lon_offset_vec; - for (size_t i = 0; i < obj_points.outer().size(); ++i) { - const auto geom_obj_point = toGeometryPoint(obj_points.outer().at(i)); - const size_t obj_point_seg_idx = - autoware::motion_utils::findNearestSegmentIndex(ego_path, geom_obj_point); + if (obj_shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) { + // NOTE: efficient calculation for the CYLINDER object. + const double radius = obj_shape.dimensions.x / 2.0; // calculate lateral offset - const double obj_point_lat_offset = - autoware::motion_utils::calcLateralOffset(ego_path, geom_obj_point, obj_point_seg_idx); - obj_lat_offset_vec.push_back(obj_point_lat_offset); + const double obj_lat_offset = + autoware::motion_utils::calcLateralOffset(ego_points, obj_pose.position, obj_seg_idx); + double obj_max_lat_offset = obj_lat_offset + radius; + if (obj_max_lat_offset * obj_lat_offset < 0) { + obj_max_lat_offset = 0.0; + } + double obj_min_lat_offset = obj_lat_offset - radius; + if (obj_min_lat_offset * obj_lat_offset < 0) { + obj_min_lat_offset = 0.0; + } + + obj_lat_offset_vec.push_back(obj_max_lat_offset); + obj_lat_offset_vec.push_back(obj_min_lat_offset); // calculate longitudinal offset - const double lon_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( - ego_path, obj_seg_idx, geom_obj_point); - obj_lon_offset_vec.push_back(lon_offset); + const double obj_lon_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( + ego_points, obj_seg_idx, obj_pose.position); + obj_lon_offset_vec.push_back(obj_lon_offset - radius); + obj_lon_offset_vec.push_back(obj_lon_offset + radius); + } else { + const auto obj_points = autoware::universe_utils::toPolygon2d(obj_pose, obj_shape); + for (size_t i = 0; i < obj_points.outer().size(); ++i) { + const auto geom_obj_point = toGeometryPoint(obj_points.outer().at(i)); + const size_t obj_point_seg_idx = + autoware::motion_utils::findNearestSegmentIndex(ego_points, geom_obj_point); + + // calculate lateral offset + const double obj_point_lat_offset = + autoware::motion_utils::calcLateralOffset(ego_points, geom_obj_point, obj_point_seg_idx); + obj_lat_offset_vec.push_back(obj_point_lat_offset); + + // calculate longitudinal offset + const double lon_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( + ego_points, obj_seg_idx, geom_obj_point); + obj_lon_offset_vec.push_back(lon_offset); + } } const auto obj_lat_min_max_offset = getMinMaxValues(obj_lat_offset_vec); @@ -1221,13 +1286,13 @@ DynamicObstacleAvoidanceModule::getLateralLongitudinalOffset( } MinMaxValue DynamicObstacleAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid( - const std::vector & ref_path_points_for_obj_poly, + const std::vector & ref_points_for_obj_poly, const geometry_msgs::msg::Pose & obj_pose, const Polygon2d & obj_points, const double obj_vel, const PredictedPath & obj_path, const autoware_perception_msgs::msg::Shape & obj_shape, const TimeWhileCollision & time_while_collision) const { - const size_t obj_seg_idx = autoware::motion_utils::findNearestSegmentIndex( - ref_path_points_for_obj_poly, obj_pose.position); + const size_t obj_seg_idx = + autoware::motion_utils::findNearestSegmentIndex(ref_points_for_obj_poly, obj_pose.position); // calculate min/max longitudinal offset from object to path const auto obj_lon_offset = [&]() { @@ -1235,7 +1300,7 @@ MinMaxValue DynamicObstacleAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid( for (size_t i = 0; i < obj_points.outer().size(); ++i) { const auto geom_obj_point = toGeometryPoint(obj_points.outer().at(i)); const double lon_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( - ref_path_points_for_obj_poly, obj_seg_idx, geom_obj_point); + ref_points_for_obj_poly, obj_seg_idx, geom_obj_point); obj_lon_offset_vec.push_back(lon_offset); } @@ -1388,22 +1453,21 @@ double DynamicObstacleAvoidanceModule::calcValidLengthToAvoid( // min value denotes near side, max value denotes far side std::optional DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject( - const std::vector & ref_path_points_for_obj_poly, + const std::vector & ref_points_for_obj_poly, const Polygon2d & obj_points, const geometry_msgs::msg::Point & obj_pos, const double obj_vel, const bool is_collision_left, const double obj_normal_vel, const std::optional & prev_object) const { const bool enable_lowpass_filter = [&]() { if ( - !prev_object || prev_object->ref_path_points_for_obj_poly.size() < 2 || - ref_path_points_for_obj_poly.size() < 2) { + !prev_object || prev_object->ref_points_for_obj_poly.size() < 2 || + ref_points_for_obj_poly.size() < 2) { return true; } const size_t obj_point_idx = - autoware::motion_utils::findNearestIndex(ref_path_points_for_obj_poly, obj_pos); + autoware::motion_utils::findNearestIndex(ref_points_for_obj_poly, obj_pos); const double paths_lat_diff = std::abs(autoware::motion_utils::calcLateralOffset( - prev_object->ref_path_points_for_obj_poly, - ref_path_points_for_obj_poly.at(obj_point_idx).point.pose.position)); + prev_object->ref_points_for_obj_poly, ref_points_for_obj_poly.at(obj_point_idx).position)); constexpr double min_paths_lat_diff = 0.3; if (paths_lat_diff < min_paths_lat_diff) { @@ -1419,10 +1483,10 @@ DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject( std::vector obj_lat_abs_offset_vec; for (size_t i = 0; i < obj_points.outer().size(); ++i) { const auto geom_obj_point = toGeometryPoint(obj_points.outer().at(i)); - const size_t obj_point_seg_idx = autoware::motion_utils::findNearestSegmentIndex( - ref_path_points_for_obj_poly, geom_obj_point); + const size_t obj_point_seg_idx = + autoware::motion_utils::findNearestSegmentIndex(ref_points_for_obj_poly, geom_obj_point); const double obj_point_lat_offset = autoware::motion_utils::calcLateralOffset( - ref_path_points_for_obj_poly, geom_obj_point, obj_point_seg_idx); + ref_points_for_obj_poly, geom_obj_point, obj_point_seg_idx); obj_lat_abs_offset_vec.push_back(obj_point_lat_offset); } return getMinMaxValues(obj_lat_abs_offset_vec); @@ -1483,21 +1547,28 @@ DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject( // min value denotes near side, max value denotes far side std::optional DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject( - const std::vector & ref_path_points_for_obj_poly, + const std::vector & ref_points_for_obj_poly, const std::optional & prev_object, const DynamicAvoidanceObject & object) const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + + time_keeper_->start_track("findNearestSegmentIndex of object position"); + const size_t obj_seg_idx = + autoware::motion_utils::findNearestSegmentIndex(ref_points_for_obj_poly, object.pose.position); + time_keeper_->end_track("findNearestSegmentIndex of object position"); + const size_t obj_point_idx = + getNearestIndexFromSegmentIndex(ref_points_for_obj_poly, obj_seg_idx, object.pose.position); + const bool enable_lowpass_filter = [&]() { + universe_utils::ScopedTimeTrack st("calc enable_lowpass_filter", *time_keeper_); if ( - !prev_object || prev_object->ref_path_points_for_obj_poly.size() < 2 || - ref_path_points_for_obj_poly.size() < 2) { + !prev_object || prev_object->ref_points_for_obj_poly.size() < 2 || + ref_points_for_obj_poly.size() < 2) { return true; } - const size_t obj_point_idx = - autoware::motion_utils::findNearestIndex(ref_path_points_for_obj_poly, object.pose.position); const double paths_lat_diff = std::abs(autoware::motion_utils::calcLateralOffset( - prev_object->ref_path_points_for_obj_poly, - ref_path_points_for_obj_poly.at(obj_point_idx).point.pose.position)); + prev_object->ref_points_for_obj_poly, ref_points_for_obj_poly.at(obj_point_idx).position)); constexpr double min_paths_lat_diff = 0.3; if (paths_lat_diff < min_paths_lat_diff) { @@ -1509,15 +1580,33 @@ DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject( }(); const auto obj_occupancy_region = [&]() { - const auto obj_points = autoware::universe_utils::toPolygon2d(object.pose, object.shape); + universe_utils::ScopedTimeTrack st("calc obj_occupancy_region", *time_keeper_); std::vector lat_pos_vec; - for (size_t i = 0; i < obj_points.outer().size(); ++i) { - const auto geom_obj_point = toGeometryPoint(obj_points.outer().at(i)); - const double obj_point_lat_offset = autoware::motion_utils::calcLateralOffset( - ref_path_points_for_obj_poly, geom_obj_point, - autoware::motion_utils::findNearestSegmentIndex( - ref_path_points_for_obj_poly, geom_obj_point)); - lat_pos_vec.push_back(obj_point_lat_offset); + if (object.shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) { + // NOTE: efficient calculation for the CYLINDER object. + const double radius = object.shape.dimensions.x / 2.0; + + const double obj_lat_offset = autoware::motion_utils::calcLateralOffset( + ref_points_for_obj_poly, object.pose.position, obj_seg_idx); + const double obj_min_lat_offset = [&]() { + if (std::abs(obj_lat_offset) < radius) { + return 0.0; + } + if (0.0 < obj_lat_offset) { + return obj_lat_offset - radius; + } + return obj_lat_offset + radius; + }(); + lat_pos_vec.push_back(obj_min_lat_offset); + } else { + const auto obj_points = autoware::universe_utils::toPolygon2d(object.pose, object.shape); + for (size_t i = 0; i < obj_points.outer().size(); ++i) { + const auto geom_obj_point = toGeometryPoint(obj_points.outer().at(i)); + const double obj_point_lat_offset = autoware::motion_utils::calcLateralOffset( + ref_points_for_obj_poly, geom_obj_point, + autoware::motion_utils::findNearestSegmentIndex(ref_points_for_obj_poly, geom_obj_point)); + lat_pos_vec.push_back(obj_point_lat_offset); + } } const auto current_pos_area = getMinMaxValues(lat_pos_vec); return combineMinMaxValues(current_pos_area, current_pos_area + object.lat_vel * 3.0); @@ -1574,19 +1663,19 @@ DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon( return std::nullopt; } - auto ref_path_points_for_obj_poly = object.ref_path_points_for_obj_poly; + auto ref_points_for_obj_poly = object.ref_points_for_obj_poly; - const size_t obj_seg_idx = autoware::motion_utils::findNearestSegmentIndex( - ref_path_points_for_obj_poly, object.pose.position); + const size_t obj_seg_idx = + autoware::motion_utils::findNearestSegmentIndex(ref_points_for_obj_poly, object.pose.position); // const auto obj_points = autoware::universe_utils::toPolygon2d(object.pose, object.shape); const auto lon_bound_start_idx_opt = autoware::motion_utils::insertTargetPoint( - obj_seg_idx, object.lon_offset_to_avoid->min_value, ref_path_points_for_obj_poly); + obj_seg_idx, object.lon_offset_to_avoid->min_value, ref_points_for_obj_poly); const size_t updated_obj_seg_idx = (lon_bound_start_idx_opt && lon_bound_start_idx_opt.value() <= obj_seg_idx) ? obj_seg_idx + 1 : obj_seg_idx; const auto lon_bound_end_idx_opt = autoware::motion_utils::insertTargetPoint( - updated_obj_seg_idx, object.lon_offset_to_avoid->max_value, ref_path_points_for_obj_poly); + updated_obj_seg_idx, object.lon_offset_to_avoid->max_value, ref_points_for_obj_poly); if (!lon_bound_start_idx_opt && !lon_bound_end_idx_opt) { // NOTE: The obstacle is longitudinally out of the ego's trajectory. @@ -1596,15 +1685,14 @@ DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon( lon_bound_start_idx_opt ? lon_bound_start_idx_opt.value() : static_cast(0); const size_t lon_bound_end_idx = lon_bound_end_idx_opt ? lon_bound_end_idx_opt.value() - : static_cast(ref_path_points_for_obj_poly.size() - 1); + : static_cast(ref_points_for_obj_poly.size() - 1); // create inner bound points std::vector obj_inner_bound_poses; for (size_t i = lon_bound_start_idx; i <= lon_bound_end_idx; ++i) { // NOTE: object.lat_offset_to_avoid->min_value is not the minimum value but the inner value. obj_inner_bound_poses.push_back(autoware::universe_utils::calcOffsetPose( - ref_path_points_for_obj_poly.at(i).point.pose, 0.0, object.lat_offset_to_avoid->min_value, - 0.0)); + ref_points_for_obj_poly.at(i), 0.0, object.lat_offset_to_avoid->min_value, 0.0)); } // calculate start index laterally feasible for ego to shift considering maximum lateral jerk and @@ -1797,9 +1885,6 @@ DynamicObstacleAvoidanceModule::EgoPathReservePoly DynamicObstacleAvoidanceModule::calcEgoPathReservePoly(const PathWithLaneId & ego_path) const { // This function require almost 0.5 ms. Should be refactored in the future - // double calculation_time; - // stop_watch_.tic(std::string(__func__)); - namespace strategy = boost::geometry::strategy::buffer; assert(!ego_path.points.empty()); @@ -1862,10 +1947,6 @@ DynamicObstacleAvoidanceModule::calcEgoPathReservePoly(const PathWithLaneId & eg strategy::distance_asymmetric(0.0, vehicle_half_width), motion_saturated_outer_paths.left_path); - // calculation_time = stop_watch_.toc(std::string(__func__)); - // RCLCPP_INFO_STREAM_EXPRESSION( - // getLogger(), parameters_->enable_debug_info, __func__ << ":=" << calculation_time << "[ms]"); - return {left_avoid_poly, right_avoid_poly}; } From d8490f7365b53d878cfc7b4e9b363dac2bc0b74b Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 18 Jul 2024 10:14:21 +0900 Subject: [PATCH 208/306] feat(mrm_handler): input gear command (#8080) * feat(mrm_handler): input gear command Signed-off-by: veqcc * style(pre-commit): autofix * fix minor Signed-off-by: veqcc --------- Signed-off-by: veqcc Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/mrm_handler/mrm_handler_core.hpp | 3 +- .../mrm_handler/launch/mrm_handler.launch.xml | 2 ++ .../src/mrm_handler/mrm_handler_core.cpp | 31 +++++++------------ 3 files changed, 16 insertions(+), 20 deletions(-) diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp index 7d7deb8c4a504..f73d0df4153ce 100644 --- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp +++ b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp @@ -86,6 +86,8 @@ class MrmHandler : public rclcpp::Node autoware::universe_utils::InterProcessPollingSubscriber< autoware_adapi_v1_msgs::msg::OperationModeState> sub_operation_mode_state_{this, "~/input/api/operation_mode/state"}; + autoware::universe_utils::InterProcessPollingSubscriber + sub_gear_cmd_{this, "~/input/gear"}; tier4_system_msgs::msg::OperationModeAvailability::ConstSharedPtr operation_mode_availability_; @@ -146,7 +148,6 @@ class MrmHandler : public rclcpp::Node void handleFailedRequest(); autoware_adapi_v1_msgs::msg::MrmState::_behavior_type getCurrentMrmBehavior(); bool isStopped(); - bool isDrivingBackwards(); bool isEmergency() const; bool isControlModeAutonomous(); bool isOperationModeAutonomous(); diff --git a/system/mrm_handler/launch/mrm_handler.launch.xml b/system/mrm_handler/launch/mrm_handler.launch.xml index 7e761157956df..c99b22e10ad77 100644 --- a/system/mrm_handler/launch/mrm_handler.launch.xml +++ b/system/mrm_handler/launch/mrm_handler.launch.xml @@ -7,6 +7,7 @@ + @@ -26,6 +27,7 @@ + diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp index 12497256fce67..0fc0cb29ecf21 100644 --- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp +++ b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp @@ -131,19 +131,20 @@ void MrmHandler::publishGearCmd() { using autoware_vehicle_msgs::msg::GearCommand; GearCommand msg; - msg.stamp = this->now(); - const auto command = [&]() { - // If stopped and use_parking is not true, send the last gear command - if (isStopped()) - return (param_.use_parking_after_stopped) ? GearCommand::PARK : last_gear_command_; - return (isDrivingBackwards()) ? GearCommand::REVERSE : GearCommand::DRIVE; - }(); - - msg.command = command; - last_gear_command_ = msg.command; + + if (isEmergency()) { + // gear command is created within mrm_handler + msg.command = + (param_.use_parking_after_stopped && isStopped()) ? GearCommand::PARK : last_gear_command_; + } else { + // use the same gear as the input gear + auto gear = sub_gear_cmd_.takeData(); + msg.command = (gear == nullptr) ? last_gear_command_ : gear->command; + last_gear_command_ = msg.command; + } + pub_gear_cmd_->publish(msg); - return; } void MrmHandler::publishMrmState() @@ -525,14 +526,6 @@ bool MrmHandler::isStopped() return (std::abs(odom->twist.twist.linear.x) < th_stopped_velocity); } -bool MrmHandler::isDrivingBackwards() -{ - auto odom = sub_odom_.takeData(); - if (odom == nullptr) return false; - constexpr auto th_moving_backwards = -0.001; - return odom->twist.twist.linear.x < th_moving_backwards; -} - bool MrmHandler::isEmergency() const { return !operation_mode_availability_->autonomous || is_emergency_holding_ || From 8e5a6c12c21473fbe6201ff98c582f565385403e Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 18 Jul 2024 10:29:35 +0900 Subject: [PATCH 209/306] fix(autoware_pure_pursuit): fix shadowVariable (#7932) * fix:shadowVariable Signed-off-by: kobayu858 * refactor: using range-based for loop Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/autoware_pure_pursuit_core/interpolate.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp index 62f5f7a5737c9..3a79b1f01a804 100644 --- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp @@ -229,8 +229,8 @@ bool SplineInterpolate::interpolate( generateSpline(base_value); // interpolate by spline with normalized index - for (int i = 0; i < static_cast(normalized_idx.size()); ++i) { - return_value.push_back(getValue(normalized_idx[i])); + for (const auto & index : normalized_idx) { + return_value.push_back(getValue(index)); } return true; } From a6d85124344486e6c1981becd4e32b9e09ad0a95 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 18 Jul 2024 10:30:12 +0900 Subject: [PATCH 210/306] fix(autoware_map_based_prediction): fix shadowVariable (#7934) fix:shadowVariable Signed-off-by: kobayu858 --- .../src/map_based_prediction_node.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index 4f223d5c99bd6..478e8d6f72dd3 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -1017,7 +1017,6 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt std::unordered_set predicted_crosswalk_users_ids; for (const auto & object : in_objects->objects) { - std::string object_id = autoware::universe_utils::toHexString(object.object_id); TrackedObject transformed_object = object; // transform object frame if it's based on map frame From c5400baa4a9e74180e12278d7e7b8becbe97a454 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 18 Jul 2024 10:30:52 +0900 Subject: [PATCH 211/306] fix(autoware_velocity_smoother): fix shadowVariablefix:shadowVariable (#7950) fix:shadowVariable Signed-off-by: kobayu858 --- .../analytical_jerk_constrained_smoother.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp index 3906222454d35..3a6bc736c96ab 100644 --- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp @@ -374,14 +374,14 @@ TrajectoryPoints AnalyticalJerkConstrainedSmoother::applyLateralAccelerationFilt for (size_t i = 0; i < output.size(); ++i) { for (const auto & lat_acc_filtered_range : latacc_filtered_ranges) { - const size_t start_index = std::get<0>(lat_acc_filtered_range); - const size_t end_index = std::get<1>(lat_acc_filtered_range); - const double min_latacc_velocity = std::get<2>(lat_acc_filtered_range); + const size_t filtered_start_index = std::get<0>(lat_acc_filtered_range); + const size_t filtered_end_index = std::get<1>(lat_acc_filtered_range); + const double filtered_min_latacc_velocity = std::get<2>(lat_acc_filtered_range); if ( - start_index <= i && i <= end_index && + filtered_start_index <= i && i <= filtered_end_index && smoother_param_.latacc.enable_constant_velocity_while_turning) { - output.at(i).longitudinal_velocity_mps = min_latacc_velocity; + output.at(i).longitudinal_velocity_mps = filtered_min_latacc_velocity; break; } } @@ -415,15 +415,15 @@ bool AnalyticalJerkConstrainedSmoother::searchDecelTargetIndices( } if (!tmp_indices.empty()) { - for (unsigned int i = 0; i < tmp_indices.size() - 1; ++i) { + for (unsigned int j = 0; j < tmp_indices.size() - 1; ++j) { const size_t index_err = 10; if ( - (tmp_indices.at(i + 1).first - tmp_indices.at(i).first < index_err) && - (tmp_indices.at(i + 1).second < tmp_indices.at(i).second)) { + (tmp_indices.at(j + 1).first - tmp_indices.at(j).first < index_err) && + (tmp_indices.at(j + 1).second < tmp_indices.at(j).second)) { continue; } - decel_target_indices.emplace_back(tmp_indices.at(i).first, tmp_indices.at(i).second); + decel_target_indices.emplace_back(tmp_indices.at(j).first, tmp_indices.at(j).second); } } if (!tmp_indices.empty()) { From 2d6d8fd5b1114816481e71bb3ee7bd05c4a41d16 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 18 Jul 2024 10:43:38 +0900 Subject: [PATCH 212/306] fix(autoware_behavior_path_goal_planner_module): fix shadowVariable (#7962) fix:shadowVariable Signed-off-by: kobayu858 --- .../src/freespace_pull_over.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp index ee35790ee2ab1..1f79f330be676 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp @@ -122,8 +122,8 @@ std::optional FreespacePullOver::plan(const Pose & goal_pose) partial_paths, pairs_terminal_velocity_and_accel, velocity_, 0); // Check if driving forward for each path, return empty if not - for (auto & path : partial_paths) { - if (!autoware::motion_utils::isDrivingForward(path.points)) { + for (auto & partial_path : partial_paths) { + if (!autoware::motion_utils::isDrivingForward(partial_path.points)) { return {}; } } From 3ee038412d3debeb2c250d4da45a6ccb0a646ec6 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 18 Jul 2024 10:44:49 +0900 Subject: [PATCH 213/306] fix(tensorrt_common): fix constParameterReference (#8037) * fix:constParameterReference Signed-off-by: kobayu858 * fix:constParameterReference Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../tensorrt_common/include/tensorrt_common/simple_profiler.hpp | 2 +- common/tensorrt_common/src/simple_profiler.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp b/common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp index 31af5fc9657d9..b89950b86ee19 100644 --- a/common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp +++ b/common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp @@ -58,7 +58,7 @@ class SimpleProfiler : public nvinfer1::IProfiler void setProfDict(nvinfer1::ILayer * layer) noexcept; - friend std::ostream & operator<<(std::ostream & out, SimpleProfiler & value); + friend std::ostream & operator<<(std::ostream & out, const SimpleProfiler & value); private: std::string m_name; diff --git a/common/tensorrt_common/src/simple_profiler.cpp b/common/tensorrt_common/src/simple_profiler.cpp index 00aa3220b7714..fbad1b6a40cc3 100644 --- a/common/tensorrt_common/src/simple_profiler.cpp +++ b/common/tensorrt_common/src/simple_profiler.cpp @@ -78,7 +78,7 @@ void SimpleProfiler::setProfDict(nvinfer1::ILayer * layer) noexcept } } -std::ostream & operator<<(std::ostream & out, SimpleProfiler & value) +std::ostream & operator<<(std::ostream & out, const SimpleProfiler & value) { out << "========== " << value.m_name << " profile ==========" << std::endl; float totalTime = 0; From 5b3aef434afabdbdf99a114ff28568e6dfa6aad2 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 18 Jul 2024 10:45:18 +0900 Subject: [PATCH 214/306] fix(ground_segmentation): fix constParameterReference (#8039) * fix:constParameterReference Signed-off-by: kobayu858 * fix: clang format Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../ground_segmentation/src/ray_ground_filter/node.cpp | 5 +++-- .../ground_segmentation/src/ray_ground_filter/node.hpp | 5 +++-- .../ground_segmentation/src/scan_ground_filter/node.cpp | 6 +++--- .../ground_segmentation/src/scan_ground_filter/node.hpp | 9 ++++++--- 4 files changed, 15 insertions(+), 10 deletions(-) diff --git a/perception/ground_segmentation/src/ray_ground_filter/node.cpp b/perception/ground_segmentation/src/ray_ground_filter/node.cpp index c75972d3c4f14..f07db15615739 100644 --- a/perception/ground_segmentation/src/ray_ground_filter/node.cpp +++ b/perception/ground_segmentation/src/ray_ground_filter/node.cpp @@ -259,7 +259,8 @@ void RayGroundFilterComponent::ClassifyPointCloud( // } void RayGroundFilterComponent::initializePointCloud2( - const PointCloud2::ConstSharedPtr & in_cloud_ptr, PointCloud2::SharedPtr & out_cloud_msg_ptr) + const PointCloud2::ConstSharedPtr & in_cloud_ptr, + const PointCloud2::SharedPtr & out_cloud_msg_ptr) { out_cloud_msg_ptr->header = in_cloud_ptr->header; out_cloud_msg_ptr->height = in_cloud_ptr->height; @@ -271,7 +272,7 @@ void RayGroundFilterComponent::initializePointCloud2( } void RayGroundFilterComponent::ExtractPointsIndices( - const PointCloud2::ConstSharedPtr in_cloud_ptr, pcl::PointIndices & in_indices, + const PointCloud2::ConstSharedPtr in_cloud_ptr, const pcl::PointIndices & in_indices, PointCloud2::SharedPtr ground_cloud_msg_ptr, PointCloud2::SharedPtr no_ground_cloud_msg_ptr) { initializePointCloud2(in_cloud_ptr, ground_cloud_msg_ptr); diff --git a/perception/ground_segmentation/src/ray_ground_filter/node.hpp b/perception/ground_segmentation/src/ray_ground_filter/node.hpp index 8bb17cdaf8a09..d3be2e60c4262 100644 --- a/perception/ground_segmentation/src/ray_ground_filter/node.hpp +++ b/perception/ground_segmentation/src/ray_ground_filter/node.hpp @@ -185,7 +185,7 @@ class RayGroundFilterComponent : public pointcloud_preprocessor::Filter * @param out_removed_indices_cloud_ptr Resulting PointCloud with the indices removed */ void ExtractPointsIndices( - const PointCloud2::ConstSharedPtr in_cloud_ptr, pcl::PointIndices & in_indices, + const PointCloud2::ConstSharedPtr in_cloud_ptr, const pcl::PointIndices & in_indices, PointCloud2::SharedPtr out_only_indices_cloud_ptr, PointCloud2::SharedPtr out_removed_indices_cloud_ptr); @@ -194,7 +194,8 @@ class RayGroundFilterComponent : public pointcloud_preprocessor::Filter void setVehicleFootprint( const double min_x, const double max_x, const double min_y, const double max_y); void initializePointCloud2( - const PointCloud2::ConstSharedPtr & in_cloud_ptr, PointCloud2::SharedPtr & out_cloud_msg_ptr); + const PointCloud2::ConstSharedPtr & in_cloud_ptr, + const PointCloud2::SharedPtr & out_cloud_msg_ptr); /** \brief Parameter service callback result : needed to be hold */ OnSetParametersCallbackHandle::SharedPtr set_param_res_; diff --git a/perception/ground_segmentation/src/scan_ground_filter/node.cpp b/perception/ground_segmentation/src/scan_ground_filter/node.cpp index dd867c3cfba0e..01116c5bdce5f 100644 --- a/perception/ground_segmentation/src/scan_ground_filter/node.cpp +++ b/perception/ground_segmentation/src/scan_ground_filter/node.cpp @@ -245,7 +245,7 @@ void ScanGroundFilterComponent::initializeFirstGndGrids( } void ScanGroundFilterComponent::checkContinuousGndGrid( - PointData & p, pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list) + PointData & p, const pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list) { float next_gnd_z = 0.0f; float curr_gnd_slope_ratio = 0.0f; @@ -287,7 +287,7 @@ void ScanGroundFilterComponent::checkContinuousGndGrid( } void ScanGroundFilterComponent::checkDiscontinuousGndGrid( - PointData & p, pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list) + PointData & p, const pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list) { float tmp_delta_max_z = p_orig_point.z - gnd_grids_list.back().max_height; float tmp_delta_avg_z = p_orig_point.z - gnd_grids_list.back().avg_height; @@ -305,7 +305,7 @@ void ScanGroundFilterComponent::checkDiscontinuousGndGrid( } void ScanGroundFilterComponent::checkBreakGndGrid( - PointData & p, pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list) + PointData & p, const pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list) { float tmp_delta_avg_z = p_orig_point.z - gnd_grids_list.back().avg_height; float tmp_delta_radius = p.radius - gnd_grids_list.back().radius; diff --git a/perception/ground_segmentation/src/scan_ground_filter/node.hpp b/perception/ground_segmentation/src/scan_ground_filter/node.hpp index 6de1d1b7ad09f..67a844eee75c5 100644 --- a/perception/ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/ground_segmentation/src/scan_ground_filter/node.hpp @@ -240,11 +240,14 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter const float h, const float r, const uint16_t id, std::vector & gnd_grids); void checkContinuousGndGrid( - PointData & p, pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list); + PointData & p, const pcl::PointXYZ & p_orig_point, + const std::vector & gnd_grids_list); void checkDiscontinuousGndGrid( - PointData & p, pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list); + PointData & p, const pcl::PointXYZ & p_orig_point, + const std::vector & gnd_grids_list); void checkBreakGndGrid( - PointData & p, pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list); + PointData & p, const pcl::PointXYZ & p_orig_point, + const std::vector & gnd_grids_list); void classifyPointCloud( const PointCloud2ConstPtr & in_cloud_ptr, std::vector & in_radial_ordered_clouds, From 2339398dd4e4b97c79e1ee59aa6b7147b66157fd Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 18 Jul 2024 10:46:58 +0900 Subject: [PATCH 215/306] fix(detected_object_validation): fix funcArgNamesDifferent (#8078) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp index 54129ff7fedf7..801a693905f93 100644 --- a/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.hpp @@ -107,7 +107,7 @@ class Validator2D : public Validator const autoware_perception_msgs::msg::DetectedObject & object) override; std::optional getPointCloudWithinObject( const autoware_perception_msgs::msg::DetectedObject & object, - const pcl::PointCloud::Ptr neighbor_pointcloud); + const pcl::PointCloud::Ptr pointcloud); }; class Validator3D : public Validator { From b4e7c5386aeea1e36eb3c08612c2e192823be734 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 18 Jul 2024 10:48:19 +0900 Subject: [PATCH 216/306] fix(compare_map_segmentation): fix funcArgNamesDifferent (#8077) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../src/voxel_grid_map_loader/voxel_grid_map_loader.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index bc54519a95e47..b13f2e537ee55 100644 --- a/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp +++ b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -196,7 +196,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, std::string * tf_map_input_frame, std::mutex * mutex, rclcpp::CallbackGroup::SharedPtr main_callback_group); - void onEstimatedPoseCallback(nav_msgs::msg::Odometry::ConstSharedPtr pose); + void onEstimatedPoseCallback(nav_msgs::msg::Odometry::ConstSharedPtr msg); void timer_callback(); bool should_update_map() const; From b4484781503209866cfe28ee12b2e84288cd9ab1 Mon Sep 17 00:00:00 2001 From: RyuYamamoto Date: Thu, 18 Jul 2024 11:17:02 +0900 Subject: [PATCH 217/306] refactor(localization_util): move diagnostics_module (#8035) refactor(localization_util): move diagnostics_module from ndt_scan_matcher to localization_util --- localization/localization_util/CMakeLists.txt | 1 + .../include/localization_util}/diagnostics_module.hpp | 6 +++--- .../src/diagnostics_module.cpp | 2 +- localization/ndt_scan_matcher/CMakeLists.txt | 1 - .../include/ndt_scan_matcher/map_update_module.hpp | 2 +- .../include/ndt_scan_matcher/ndt_scan_matcher_core.hpp | 2 +- 6 files changed, 7 insertions(+), 7 deletions(-) rename localization/{ndt_scan_matcher/include/ndt_scan_matcher => localization_util/include/localization_util}/diagnostics_module.hpp (92%) rename localization/{ndt_scan_matcher => localization_util}/src/diagnostics_module.cpp (98%) diff --git a/localization/localization_util/CMakeLists.txt b/localization/localization_util/CMakeLists.txt index ebf2b6dc10878..2e4d4b321ec54 100644 --- a/localization/localization_util/CMakeLists.txt +++ b/localization/localization_util/CMakeLists.txt @@ -6,6 +6,7 @@ autoware_package() ament_auto_add_library(localization_util SHARED src/util_func.cpp + src/diagnostics_module.cpp src/smart_pose_buffer.cpp src/tree_structured_parzen_estimator.cpp src/covariance_ellipse.cpp diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp b/localization/localization_util/include/localization_util/diagnostics_module.hpp similarity index 92% rename from localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp rename to localization/localization_util/include/localization_util/diagnostics_module.hpp index 6dfea386abaf8..0ec52cfe814af 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp +++ b/localization/localization_util/include/localization_util/diagnostics_module.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NDT_SCAN_MATCHER__DIAGNOSTICS_MODULE_HPP_ -#define NDT_SCAN_MATCHER__DIAGNOSTICS_MODULE_HPP_ +#ifndef LOCALIZATION_UTIL__DIAGNOSTICS_MODULE_HPP_ +#define LOCALIZATION_UTIL__DIAGNOSTICS_MODULE_HPP_ #include @@ -57,4 +57,4 @@ void DiagnosticsModule::add_key_value(const std::string & key, const std::string template <> void DiagnosticsModule::add_key_value(const std::string & key, const bool & value); -#endif // NDT_SCAN_MATCHER__DIAGNOSTICS_MODULE_HPP_ +#endif // LOCALIZATION_UTIL__DIAGNOSTICS_MODULE_HPP_ diff --git a/localization/ndt_scan_matcher/src/diagnostics_module.cpp b/localization/localization_util/src/diagnostics_module.cpp similarity index 98% rename from localization/ndt_scan_matcher/src/diagnostics_module.cpp rename to localization/localization_util/src/diagnostics_module.cpp index 805ee676c5e04..fb9e122a71e24 100644 --- a/localization/ndt_scan_matcher/src/diagnostics_module.cpp +++ b/localization/localization_util/src/diagnostics_module.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "ndt_scan_matcher/diagnostics_module.hpp" +#include "localization_util/diagnostics_module.hpp" #include diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt index 5e4db9571c404..c2ede4da2f543 100644 --- a/localization/ndt_scan_matcher/CMakeLists.txt +++ b/localization/ndt_scan_matcher/CMakeLists.txt @@ -26,7 +26,6 @@ find_package(PCL REQUIRED COMPONENTS common io registration) include_directories(${PCL_INCLUDE_DIRS}) ament_auto_add_library(${PROJECT_NAME} SHARED - src/diagnostics_module.cpp src/map_update_module.cpp src/ndt_scan_matcher_core.cpp src/particle.cpp diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index e09ff5c782e7d..ddc5e32f782f7 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -15,8 +15,8 @@ #ifndef NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_ #define NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_ +#include "localization_util/diagnostics_module.hpp" #include "localization_util/util_func.hpp" -#include "ndt_scan_matcher/diagnostics_module.hpp" #include "ndt_scan_matcher/hyper_parameters.hpp" #include "ndt_scan_matcher/particle.hpp" diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index 119c3534cab16..92df806605357 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -17,8 +17,8 @@ #define FMT_HEADER_ONLY +#include "localization_util/diagnostics_module.hpp" #include "localization_util/smart_pose_buffer.hpp" -#include "ndt_scan_matcher/diagnostics_module.hpp" #include "ndt_scan_matcher/hyper_parameters.hpp" #include "ndt_scan_matcher/map_update_module.hpp" From 7cc17dff076b8b925e7a011586ac2187c63013dd Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 18 Jul 2024 11:19:14 +0900 Subject: [PATCH 218/306] feat(control_validator)!: add velocity check (#7806) * add velocity check --------- Signed-off-by: Yuki Takagi --- control/autoware_control_validator/README.md | 17 +++++--- .../config/control_validator.param.yaml | 3 +- .../control_validator/control_validator.hpp | 12 +++++- .../msg/ControlValidatorStatus.msg | 3 ++ .../src/control_validator.cpp | 41 +++++++++++++++++-- 5 files changed, 65 insertions(+), 11 deletions(-) diff --git a/control/autoware_control_validator/README.md b/control/autoware_control_validator/README.md index 9c4a9be0732a5..850eefb706c9a 100644 --- a/control/autoware_control_validator/README.md +++ b/control/autoware_control_validator/README.md @@ -6,14 +6,17 @@ The `control_validator` is a module that checks the validity of the output of th ## Supported features -The following features are supported for the validation and can have thresholds set by parameters: +The following features are supported for the validation and can have thresholds set by parameters. +The listed features below does not always correspond to the latest implementation. +| Description | Arguments | Diagnostic equation | Implemented function name | +| ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- | :--------------------------------: | ------------------------------- | +| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and threshold velocity parameter $k$ | $v\hat{v}<0,~\|v\|>k $ | `checkValidVelocityDeviation()` | +| Overspeed: Measured speed exceeds target speed significantly. | measured velocity $v$, target velocity $\hat{v}$, and threshold ratio parameter $r$ | $\| v \| > (1 + r) \| \hat{v} \| $ | `checkValidVelocityDeviation()` | - **Deviation check between reference trajectory and predicted trajectory** : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold. ![trajectory_deviation](./image/trajectory_deviation.drawio.svg) -Other features are to be implemented. - ## Inputs/Outputs ### Inputs @@ -53,6 +56,8 @@ The following parameters can be set for the `control_validator`: The input trajectory is detected as invalid if the index exceeds the following thresholds. -| Name | Type | Description | Default value | -| :---------------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :------------ | -| `thresholds.max_distance_deviation` | double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0 | +| Name | Type | Description | Default value | +| :----------------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :------------ | +| `thresholds.max_distance_deviation` | double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0 | +| `thresholds.max_reverse_velocity` | double | threshold velocity to valid the vehicle velocity [m/s] | WIP | +| `thresholds.max_over_velocity_ratio` | double | threshold ratio to valid the vehicle velocity [*] | WIP | diff --git a/control/autoware_control_validator/config/control_validator.param.yaml b/control/autoware_control_validator/config/control_validator.param.yaml index 12709b18b7932..fdac1d15b58b2 100644 --- a/control/autoware_control_validator/config/control_validator.param.yaml +++ b/control/autoware_control_validator/config/control_validator.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - # If the number of consecutive invalid trajectory exceeds this threshold, the Diag will be set to ERROR. # (For example, threshold = 1 means, even if the trajectory is invalid, Diag will not be ERROR if # the next trajectory is valid.) @@ -10,3 +9,5 @@ thresholds: max_distance_deviation: 1.0 + max_reverse_velocity: 0.2 + max_over_velocity_ratio: 0.1 diff --git a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp index ecb46aee123e3..515f1c4cec339 100644 --- a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp +++ b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp @@ -42,6 +42,8 @@ using nav_msgs::msg::Odometry; struct ValidationParams { double max_distance_deviation_threshold; + double max_reverse_velocity_threshold; + double max_over_velocity_ratio_threshold; }; class ControlValidator : public rclcpp::Node @@ -52,6 +54,8 @@ class ControlValidator : public rclcpp::Node void onPredictedTrajectory(const Trajectory::ConstSharedPtr msg); bool checkValidMaxDistanceDeviation(const Trajectory & predicted_trajectory); + bool checkValidVelocityDeviation( + const Trajectory & reference_trajectory, const Odometry & kinematics); private: void setupDiag(); @@ -60,7 +64,9 @@ class ControlValidator : public rclcpp::Node bool isDataReady(); - void validate(const Trajectory & trajectory); + void validate( + const Trajectory & predicted_trajectory, const Trajectory & reference_trajectory, + const Odometry & kinematics); void publishPredictedTrajectory(); void publishDebugInfo(); @@ -85,6 +91,10 @@ class ControlValidator : public rclcpp::Node ControlValidatorStatus validation_status_; ValidationParams validation_params_; // for thresholds + // ego nearest index search + double ego_nearest_dist_threshold_; + double ego_nearest_yaw_threshold_; + autoware::vehicle_info_utils::VehicleInfo vehicle_info_; bool isAllValid(const ControlValidatorStatus & status); diff --git a/control/autoware_control_validator/msg/ControlValidatorStatus.msg b/control/autoware_control_validator/msg/ControlValidatorStatus.msg index 242bede4ece89..c7dbdbb048e4e 100644 --- a/control/autoware_control_validator/msg/ControlValidatorStatus.msg +++ b/control/autoware_control_validator/msg/ControlValidatorStatus.msg @@ -2,8 +2,11 @@ builtin_interfaces/Time stamp # states bool is_valid_max_distance_deviation +bool is_valid_velocity_deviation # values float64 max_distance_deviation +float64 desired_velocity +float64 current_velocity int64 invalid_count diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index 4c8ca3c831824..d2106daf19f81 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -15,6 +15,8 @@ #include "autoware/control_validator/control_validator.hpp" #include "autoware/control_validator/utils.hpp" +#include "autoware/motion_utils/trajectory/interpolation.hpp" +#include "autoware/motion_utils/trajectory/trajectory.hpp" #include #include @@ -51,6 +53,8 @@ void ControlValidator::setupParameters() auto & p = validation_params_; const std::string t = "thresholds."; p.max_distance_deviation_threshold = declare_parameter(t + "max_distance_deviation"); + p.max_reverse_velocity_threshold = declare_parameter(t + "reverse_velocity"); + p.max_over_velocity_ratio_threshold = declare_parameter(t + "over_velocity_ratio"); } try { @@ -88,6 +92,11 @@ void ControlValidator::setupDiag() stat, validation_status_.is_valid_max_distance_deviation, "control output is deviated from trajectory"); }); + d.add(ns + "velocity_deviation", [&](auto & stat) { + setStatus( + stat, validation_status_.is_valid_velocity_deviation, + "current velocity is deviated from the desired velocity"); + }); } bool ControlValidator::isDataReady() @@ -119,7 +128,7 @@ void ControlValidator::onPredictedTrajectory(const Trajectory::ConstSharedPtr ms debug_pose_publisher_->clearMarkers(); - validate(*current_predicted_trajectory_); + validate(*current_predicted_trajectory_, *current_reference_trajectory_, *current_kinematics_); diag_updater_.force_update(); @@ -142,7 +151,9 @@ void ControlValidator::publishDebugInfo() debug_pose_publisher_->publish(); } -void ControlValidator::validate(const Trajectory & predicted_trajectory) +void ControlValidator::validate( + const Trajectory & predicted_trajectory, const Trajectory & reference_trajectory, + const Odometry & kinematics) { if (predicted_trajectory.points.size() < 2) { RCLCPP_ERROR_THROTTLE( @@ -154,6 +165,7 @@ void ControlValidator::validate(const Trajectory & predicted_trajectory) auto & s = validation_status_; s.is_valid_max_distance_deviation = checkValidMaxDistanceDeviation(predicted_trajectory); + s.is_valid_velocity_deviation = checkValidVelocityDeviation(reference_trajectory, kinematics); s.invalid_count = isAllValid(s) ? 0 : s.invalid_count + 1; } @@ -170,9 +182,32 @@ bool ControlValidator::checkValidMaxDistanceDeviation(const Trajectory & predict return true; } +bool ControlValidator::checkValidVelocityDeviation( + const Trajectory & reference_trajectory, const Odometry & kinematics) +{ + const double current_vel = kinematics.twist.twist.linear.x; + if (reference_trajectory.points.size() < 2) return true; + const double desired_vel = + autoware::motion_utils::calcInterpolatedPoint(reference_trajectory, kinematics.pose.pose) + .longitudinal_velocity_mps; + + validation_status_.current_velocity = current_vel; + validation_status_.desired_velocity = desired_vel; + + const bool is_over_velocity = + std::abs(current_vel) > + std::abs(desired_vel) * (1.0 + validation_params_.max_over_velocity_ratio_threshold) + + validation_params_.max_reverse_velocity_threshold; + const bool is_reverse_velocity = + std::signbit(current_vel * desired_vel) && + std::abs(current_vel) > validation_params_.max_reverse_velocity_threshold; + + return !(is_over_velocity || is_reverse_velocity); +} + bool ControlValidator::isAllValid(const ControlValidatorStatus & s) { - return s.is_valid_max_distance_deviation; + return s.is_valid_max_distance_deviation && s.is_valid_velocity_deviation; } void ControlValidator::displayStatus() From d646492c84185ca9331ac0c941097b001af10c20 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 18 Jul 2024 11:32:43 +0900 Subject: [PATCH 219/306] refactor(crosswalk): clean up the structure and create a brief flowchart (#7868) * refactor(crosswalk): clean up the structure and create a brief flowchart Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * static stop pose -> default stop pose Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../README.md | 35 +++ .../util.hpp | 7 +- .../src/scene_crosswalk.cpp | 251 +++++++++--------- .../src/scene_crosswalk.hpp | 33 ++- .../src/util.cpp | 43 +-- .../src/scene_walkway.cpp | 42 ++- .../src/scene_walkway.hpp | 4 +- 7 files changed, 234 insertions(+), 181 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md index 60601299daf8b..3cf62b92bb659 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md @@ -8,6 +8,41 @@ This module judges whether the ego should stop in front of the crosswalk in orde ![crosswalk_module](docs/crosswalk_module.svg){width=1100} +## Flowchart + +```plantuml +@startuml +skinparam monochrome true + +title modifyPathVelocity +start +:getPathEndPointsOnCrosswalk; +group apply slow down + :applySlowDownByLanleet2Map; + :applySlowDownByOcclusion; +end group +group calculate stop pose + :getDefaultStopPose; + :resamplePath; + :checkStopForCrosswalkUsers; + :checkStopForStuckVehicles; +end group +group apply stop + :getNearestStopFactor; + :setSafe; + :setDistanceToStop; + + if (isActivated() is True?) then (yes) + :planGo; + else (no) + :planStop; + endif +end group + +stop +@enduml +``` + ## Features ### Yield the Way to the Pedestrians diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp index bcf31eadcc35f..260ba58fd7d93 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp @@ -97,13 +97,14 @@ std::set getCrosswalkIdSetOnPath( bool checkRegulatoryElementExistence(const lanelet::LaneletMapPtr & lanelet_map_ptr); -std::vector getPolygonIntersects( +std::optional> +getPathEndPointsOnCrosswalk( const PathWithLaneId & ego_path, const lanelet::BasicPolygon2d & polygon, - const geometry_msgs::msg::Point & ego_pos, const size_t max_num); + const geometry_msgs::msg::Point & ego_pos); std::vector getLinestringIntersects( const PathWithLaneId & ego_path, const lanelet::BasicLineString2d & linestring, - const geometry_msgs::msg::Point & ego_pos, const size_t max_num); + const geometry_msgs::msg::Point & ego_pos); std::optional getStopLineFromMap( const lanelet::Id lane_id, const lanelet::LaneletMapPtr & lanelet_map_ptr, diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 1e6658987f522..4308ce5d054ff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -114,18 +114,20 @@ void sortCrosswalksByDistance( lanelet::ConstLanelets & crosswalks) { const auto compare = [&](const lanelet::ConstLanelet & l1, const lanelet::ConstLanelet & l2) { - const auto l1_intersects = - getPolygonIntersects(ego_path, l1.polygon2d().basicPolygon(), ego_pos, 2); - const auto l2_intersects = - getPolygonIntersects(ego_path, l2.polygon2d().basicPolygon(), ego_pos, 2); + const auto l1_end_points_on_crosswalk = + getPathEndPointsOnCrosswalk(ego_path, l1.polygon2d().basicPolygon(), ego_pos); + const auto l2_end_points_on_crosswalk = + getPathEndPointsOnCrosswalk(ego_path, l2.polygon2d().basicPolygon(), ego_pos); - if (l1_intersects.empty() || l2_intersects.empty()) { + if (!l1_end_points_on_crosswalk || !l2_end_points_on_crosswalk) { return true; } - const auto dist_l1 = calcSignedArcLength(ego_path.points, size_t(0), l1_intersects.front()); + const auto dist_l1 = + calcSignedArcLength(ego_path.points, size_t(0), l1_end_points_on_crosswalk->first); - const auto dist_l2 = calcSignedArcLength(ego_path.points, size_t(0), l2_intersects.front()); + const auto dist_l2 = + calcSignedArcLength(ego_path.points, size_t(0), l2_end_points_on_crosswalk->first); return dist_l1 < dist_l2; }; @@ -225,67 +227,23 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto recordTime(1); // Calculate intersection between path and crosswalks - const auto path_intersects = - getPolygonIntersects(*path, crosswalk_.polygon2d().basicPolygon(), ego_pos, 2); + const auto path_end_points_on_crosswalk = + getPathEndPointsOnCrosswalk(*path, crosswalk_.polygon2d().basicPolygon(), ego_pos); + if (!path_end_points_on_crosswalk) { + return {}; + } + const auto & first_path_point_on_crosswalk = path_end_points_on_crosswalk->first; + const auto & last_path_point_on_crosswalk = path_end_points_on_crosswalk->second; // Apply safety slow down speed if defined in Lanelet2 map - if (crosswalk_.hasAttribute("safety_slow_down_speed")) { - applySafetySlowDownSpeed( - *path, path_intersects, - static_cast(crosswalk_.attribute("safety_slow_down_speed").asDouble().get())); - } - // Apply safety slow down speed if the crosswalk is occluded - const auto now = clock_->now(); - const auto cmp_with_time_buffer = [&](const auto & t, const auto cmp_fn) { - return t && cmp_fn((now - *t).seconds(), planner_param_.occlusion_time_buffer); - }; - const auto crosswalk_has_traffic_light = - !crosswalk_.regulatoryElementsAs().empty(); - const auto is_crosswalk_ignored = - (planner_param_.occlusion_ignore_with_traffic_light && crosswalk_has_traffic_light) || - crosswalk_.hasAttribute("skip_occluded_slowdown"); - if (planner_param_.occlusion_enable && !path_intersects.empty() && !is_crosswalk_ignored) { - const auto dist_ego_to_crosswalk = - calcSignedArcLength(path->points, ego_pos, path_intersects.front()); - const auto detection_range = - planner_data_->vehicle_info_.max_lateral_offset_m + - calculate_detection_range( - planner_param_.occlusion_occluded_object_velocity, dist_ego_to_crosswalk, - planner_data_->current_velocity->twist.linear.x); - const auto is_ego_on_the_crosswalk = - dist_ego_to_crosswalk <= planner_data_->vehicle_info_.max_longitudinal_offset_m; - if (!is_ego_on_the_crosswalk) { - if (is_crosswalk_occluded( - crosswalk_, *planner_data_->occupancy_grid, path_intersects.front(), detection_range, - objects_ptr->objects, planner_param_)) { - if (!current_initial_occlusion_time_) current_initial_occlusion_time_ = now; - if (cmp_with_time_buffer(current_initial_occlusion_time_, std::greater_equal{})) - most_recent_occlusion_time_ = now; - } else if (!cmp_with_time_buffer(most_recent_occlusion_time_, std::greater{})) { - current_initial_occlusion_time_.reset(); - } + applySlowDownByLanelet2Map(*path, first_path_point_on_crosswalk, last_path_point_on_crosswalk); - if (cmp_with_time_buffer(most_recent_occlusion_time_, std::less_equal{})) { - const auto target_velocity = calcTargetVelocity(path_intersects.front(), *path); - applySafetySlowDownSpeed( - *path, path_intersects, - std::max(target_velocity, planner_param_.occlusion_slow_down_velocity)); - debug_data_.virtual_wall_suffix = " (occluded)"; - } else { - most_recent_occlusion_time_.reset(); - } - } - } + // Apply safety slow down speed if the crosswalk is occluded + applySlowDownByOcclusion(*path, first_path_point_on_crosswalk, last_path_point_on_crosswalk); recordTime(2); // Calculate stop point with margin - const auto p_stop_line = getStopPointWithMargin(*path, path_intersects); - - std::optional default_stop_pose = std::nullopt; - if (p_stop_line.has_value()) { - default_stop_pose = - calcLongitudinalOffsetPose(path->points, p_stop_line->first, p_stop_line->second); - } + const auto default_stop_pose = getDefaultStopPose(*path, first_path_point_on_crosswalk); // Resample path sparsely for less computation cost constexpr double resample_interval = 4.0; @@ -294,11 +252,13 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto // Decide to stop for crosswalk users const auto stop_factor_for_crosswalk_users = checkStopForCrosswalkUsers( - *path, sparse_resample_path, p_stop_line, path_intersects, default_stop_pose); + *path, sparse_resample_path, first_path_point_on_crosswalk, last_path_point_on_crosswalk, + default_stop_pose); // Decide to stop for stuck vehicle const auto stop_factor_for_stuck_vehicles = checkStopForStuckVehicles( - sparse_resample_path, objects_ptr->objects, path_intersects, default_stop_pose); + sparse_resample_path, objects_ptr->objects, first_path_point_on_crosswalk, + last_path_point_on_crosswalk, default_stop_pose); // Get nearest stop factor const auto nearest_stop_factor = @@ -328,35 +288,32 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto } // NOTE: The stop point will be the returned point with the margin. -std::optional> CrosswalkModule::getStopPointWithMargin( +std::optional CrosswalkModule::getDefaultStopPose( const PathWithLaneId & ego_path, - const std::vector & path_intersects) const + const geometry_msgs::msg::Point & first_path_point_on_crosswalk) const { const auto & ego_pos = planner_data_->current_odometry->pose.position; const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; // If stop lines are found in the LL2 map. for (const auto & stop_line : stop_lines_) { - const auto p_stop_lines = getLinestringIntersects( - ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos, 2); + const auto p_stop_lines = + getLinestringIntersects(ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos); if (!p_stop_lines.empty()) { - return std::make_pair(p_stop_lines.front(), -base_link2front); + return calcLongitudinalOffsetPose(ego_path.points, p_stop_lines.front(), -base_link2front); } } // If stop lines are not found in the LL2 map. - if (!path_intersects.empty()) { - return std::make_pair( - path_intersects.front(), -planner_param_.stop_distance_from_crosswalk - base_link2front); - } - - return {}; + return calcLongitudinalOffsetPose( + ego_path.points, first_path_point_on_crosswalk, + -planner_param_.stop_distance_from_crosswalk - base_link2front); } std::optional CrosswalkModule::checkStopForCrosswalkUsers( const PathWithLaneId & ego_path, const PathWithLaneId & sparse_resample_path, - const std::optional> & p_stop_line, - const std::vector & path_intersects, + const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk, const std::optional & default_stop_pose) { const auto & ego_pos = planner_data_->current_odometry->pose.position; @@ -367,10 +324,11 @@ std::optional CrosswalkModule::checkStopForCrosswalkUsers( findEgoPassageDirectionAlongPath(sparse_resample_path); const auto base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; const auto dist_ego_to_stop = - calcSignedArcLength(ego_path.points, ego_pos, p_stop_line->first) + p_stop_line->second; + calcSignedArcLength(ego_path.points, ego_pos, default_stop_pose->position); // Calculate attention range for crosswalk - const auto crosswalk_attention_range = getAttentionRange(sparse_resample_path, path_intersects); + const auto crosswalk_attention_range = getAttentionRange( + sparse_resample_path, first_path_point_on_crosswalk, last_path_point_on_crosswalk); // Get attention area, which is ego's footprints on the crosswalk const auto attention_area = getAttentionArea(sparse_resample_path, crosswalk_attention_range); @@ -381,19 +339,15 @@ std::optional CrosswalkModule::checkStopForCrosswalkUsers( // Check if ego moves forward enough to ignore yield. const auto & p = planner_param_; - if (!path_intersects.empty()) { - const double dist_ego2crosswalk = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()); - const auto braking_distance_opt = - autoware::motion_utils::calcDecelDistWithJerkAndAccConstraints( - ego_vel, 0.0, ego_acc, p.min_acc_for_no_stop_decision, p.max_jerk_for_no_stop_decision, - p.min_jerk_for_no_stop_decision); - const double braking_distance = braking_distance_opt ? *braking_distance_opt : 0.0; - if ( - dist_ego2crosswalk - base_link2front - braking_distance < - p.max_offset_to_crosswalk_for_yield) { - return {}; - } + const double dist_ego2crosswalk = + calcSignedArcLength(ego_path.points, ego_pos, first_path_point_on_crosswalk); + const auto braking_distance_opt = autoware::motion_utils::calcDecelDistWithJerkAndAccConstraints( + ego_vel, 0.0, ego_acc, p.min_acc_for_no_stop_decision, p.max_jerk_for_no_stop_decision, + p.min_jerk_for_no_stop_decision); + const double braking_distance = braking_distance_opt ? *braking_distance_opt : 0.0; + if ( + dist_ego2crosswalk - base_link2front - braking_distance < p.max_offset_to_crosswalk_for_yield) { + return {}; } // Check pedestrian for stop @@ -461,20 +415,17 @@ std::optional CrosswalkModule::checkStopForCrosswalkUsers( } std::pair CrosswalkModule::getAttentionRange( - const PathWithLaneId & ego_path, const std::vector & path_intersects) + const PathWithLaneId & ego_path, const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk) { stop_watch_.tic(__func__); - if (path_intersects.size() < 2) { - return std::make_pair(0.0, 0.0); - } - const auto & ego_pos = planner_data_->current_odometry->pose.position; const auto near_attention_range = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()) - + calcSignedArcLength(ego_path.points, ego_pos, first_path_point_on_crosswalk) - planner_param_.crosswalk_attention_range; const auto far_attention_range = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()) + + calcSignedArcLength(ego_path.points, ego_pos, last_path_point_on_crosswalk) + planner_param_.crosswalk_attention_range; const auto [clamped_near_attention_range, clamped_far_attention_range] = @@ -598,14 +549,14 @@ std::pair CrosswalkModule::clampAttentionRangeByNeighborCrosswal auto reverse_ego_path = ego_path; std::reverse(reverse_ego_path.points.begin(), reverse_ego_path.points.end()); - const auto prev_crosswalk_intersects = getPolygonIntersects( - reverse_ego_path, prev_crosswalk->polygon2d().basicPolygon(), ego_pos, 2); - if (prev_crosswalk_intersects.empty()) { + const auto path_end_points_on_prev_crosswalk = getPathEndPointsOnCrosswalk( + reverse_ego_path, prev_crosswalk->polygon2d().basicPolygon(), ego_pos); + if (!path_end_points_on_prev_crosswalk) { return near_attention_range; } const auto dist_to_prev_crosswalk = - calcSignedArcLength(ego_path.points, ego_pos, prev_crosswalk_intersects.front()); + calcSignedArcLength(ego_path.points, ego_pos, path_end_points_on_prev_crosswalk->first); return std::max(near_attention_range, dist_to_prev_crosswalk); }(); @@ -613,15 +564,14 @@ std::pair CrosswalkModule::clampAttentionRangeByNeighborCrosswal if (!next_crosswalk) { return far_attention_range; } - const auto next_crosswalk_intersects = - getPolygonIntersects(ego_path, next_crosswalk->polygon2d().basicPolygon(), ego_pos, 2); - - if (next_crosswalk_intersects.empty()) { + const auto path_end_points_on_next_crosswalk = + getPathEndPointsOnCrosswalk(ego_path, next_crosswalk->polygon2d().basicPolygon(), ego_pos); + if (!path_end_points_on_next_crosswalk) { return far_attention_range; } const auto dist_to_next_crosswalk = - calcSignedArcLength(ego_path.points, ego_pos, next_crosswalk_intersects.front()); + calcSignedArcLength(ego_path.points, ego_pos, path_end_points_on_next_crosswalk->first); return std::min(far_attention_range, dist_to_next_crosswalk); }(); @@ -829,14 +779,11 @@ CollisionPoint CrosswalkModule::createCollisionPoint( return collision_point; } -void CrosswalkModule::applySafetySlowDownSpeed( - PathWithLaneId & output, const std::vector & path_intersects, +void CrosswalkModule::applySlowDown( + PathWithLaneId & output, const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk, const float safety_slow_down_speed) { - if (path_intersects.empty()) { - return; - } - const auto & ego_pos = planner_data_->current_odometry->pose.position; const auto ego_path = output; std::optional slowdown_pose{std::nullopt}; @@ -850,7 +797,8 @@ void CrosswalkModule::applySafetySlowDownSpeed( const double safety_slow_margin = planner_data_->vehicle_info_.max_longitudinal_offset_m + safety_slow_down_distance; const double safety_slow_point_range = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()) - safety_slow_margin; + calcSignedArcLength(ego_path.points, ego_pos, first_path_point_on_crosswalk) - + safety_slow_margin; const auto & p_safety_slow = calcLongitudinalOffsetPoint(ego_path.points, ego_pos, safety_slow_point_range); @@ -867,7 +815,7 @@ void CrosswalkModule::applySafetySlowDownSpeed( } else { // the range until to the point where ego will start accelerate const double safety_slow_end_point_range = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()); + calcSignedArcLength(ego_path.points, ego_pos, last_path_point_on_crosswalk); if (0.0 < safety_slow_end_point_range) { // insert constant ego speed until the end of the crosswalk @@ -884,6 +832,68 @@ void CrosswalkModule::applySafetySlowDownSpeed( VelocityFactor::APPROACHING); } +void CrosswalkModule::applySlowDownByLanelet2Map( + PathWithLaneId & output, const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk) +{ + if (!crosswalk_.hasAttribute("safety_slow_down_speed")) { + return; + } + applySlowDown( + output, first_path_point_on_crosswalk, last_path_point_on_crosswalk, + static_cast(crosswalk_.attribute("safety_slow_down_speed").asDouble().get())); +} + +void CrosswalkModule::applySlowDownByOcclusion( + PathWithLaneId & output, const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk) +{ + const auto & ego_pos = planner_data_->current_odometry->pose.position; + const auto objects_ptr = planner_data_->predicted_objects; + + const auto now = clock_->now(); + const auto cmp_with_time_buffer = [&](const auto & t, const auto cmp_fn) { + return t && cmp_fn((now - *t).seconds(), planner_param_.occlusion_time_buffer); + }; + const auto crosswalk_has_traffic_light = + !crosswalk_.regulatoryElementsAs().empty(); + const auto is_crosswalk_ignored = + (planner_param_.occlusion_ignore_with_traffic_light && crosswalk_has_traffic_light) || + crosswalk_.hasAttribute("skip_occluded_slowdown"); + if (planner_param_.occlusion_enable && !is_crosswalk_ignored) { + const auto dist_ego_to_crosswalk = + calcSignedArcLength(output.points, ego_pos, first_path_point_on_crosswalk); + const auto detection_range = + planner_data_->vehicle_info_.max_lateral_offset_m + + calculate_detection_range( + planner_param_.occlusion_occluded_object_velocity, dist_ego_to_crosswalk, + planner_data_->current_velocity->twist.linear.x); + const auto is_ego_on_the_crosswalk = + dist_ego_to_crosswalk <= planner_data_->vehicle_info_.max_longitudinal_offset_m; + if (!is_ego_on_the_crosswalk) { + if (is_crosswalk_occluded( + crosswalk_, *planner_data_->occupancy_grid, first_path_point_on_crosswalk, + detection_range, objects_ptr->objects, planner_param_)) { + if (!current_initial_occlusion_time_) current_initial_occlusion_time_ = now; + if (cmp_with_time_buffer(current_initial_occlusion_time_, std::greater_equal{})) + most_recent_occlusion_time_ = now; + } else if (!cmp_with_time_buffer(most_recent_occlusion_time_, std::greater{})) { + current_initial_occlusion_time_.reset(); + } + + if (cmp_with_time_buffer(most_recent_occlusion_time_, std::less_equal{})) { + const auto target_velocity = calcTargetVelocity(first_path_point_on_crosswalk, output); + applySlowDown( + output, first_path_point_on_crosswalk, last_path_point_on_crosswalk, + std::max(target_velocity, planner_param_.occlusion_slow_down_velocity)); + debug_data_.virtual_wall_suffix = " (occluded)"; + } else { + most_recent_occlusion_time_.reset(); + } + } + } +} + Polygon2d CrosswalkModule::getAttentionArea( const PathWithLaneId & sparse_resample_path, const std::pair & crosswalk_attention_range) const @@ -926,12 +936,13 @@ Polygon2d CrosswalkModule::getAttentionArea( std::optional CrosswalkModule::checkStopForStuckVehicles( const PathWithLaneId & ego_path, const std::vector & objects, - const std::vector & path_intersects, + const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk, const std::optional & stop_pose) { const auto & p = planner_param_; - if (path_intersects.size() < 2 || !stop_pose) { + if (!stop_pose) { return {}; } @@ -963,10 +974,10 @@ std::optional CrosswalkModule::checkStopForStuckVehicles( // check if STOP is required const double crosswalk_front_to_obj_rear = - calcSignedArcLength(ego_path.points, path_intersects.front(), obj_pose.position) - + calcSignedArcLength(ego_path.points, first_path_point_on_crosswalk, obj_pose.position) - object.shape.dimensions.x / 2.0; const double crosswalk_back_to_obj_rear = - calcSignedArcLength(ego_path.points, path_intersects.back(), obj_pose.position) - + calcSignedArcLength(ego_path.points, last_path_point_on_crosswalk, obj_pose.position) - object.shape.dimensions.x / 2.0; const double required_space_length = planner_data_->vehicle_info_.vehicle_length_m + planner_param_.required_clearance; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index b7dc2fea16794..ebb9d715ccd6a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -331,23 +331,33 @@ class CrosswalkModule : public SceneModuleInterface private: // main functions - void applySafetySlowDownSpeed( - PathWithLaneId & output, const std::vector & path_intersects, - const float speed); + void applySlowDown( + PathWithLaneId & output, const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk, + const float safety_slow_down_speed); - std::optional> getStopPointWithMargin( + void applySlowDownByLanelet2Map( + PathWithLaneId & output, const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk); + + void applySlowDownByOcclusion( + PathWithLaneId & output, const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk); + + std::optional getDefaultStopPose( const PathWithLaneId & ego_path, - const std::vector & path_intersects) const; + const geometry_msgs::msg::Point & first_path_point_on_crosswalk) const; std::optional checkStopForCrosswalkUsers( const PathWithLaneId & ego_path, const PathWithLaneId & sparse_resample_path, - const std::optional> & p_stop_line, - const std::vector & path_intersects, + const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk, const std::optional & default_stop_pose); std::optional checkStopForStuckVehicles( const PathWithLaneId & ego_path, const std::vector & objects, - const std::vector & path_intersects, + const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk, const std::optional & stop_pose); std::optional findEgoPassageDirectionAlongPath( @@ -378,7 +388,8 @@ class CrosswalkModule : public SceneModuleInterface // minor functions std::pair getAttentionRange( const PathWithLaneId & ego_path, - const std::vector & path_intersects); + const geometry_msgs::msg::Point & first_path_point_on_crosswalk, + const geometry_msgs::msg::Point & last_path_point_on_crosswalk); void insertDecelPointWithDebugInfo( const geometry_msgs::msg::Point & stop_point, const float target_velocity, @@ -401,10 +412,6 @@ class CrosswalkModule : public SceneModuleInterface const PathWithLaneId & sparse_resample_path, const std::pair & crosswalk_attention_range) const; - bool isStuckVehicle( - const PathWithLaneId & ego_path, const std::vector & objects, - const std::vector & path_intersects) const; - void updateObjectState( const double dist_ego_to_stop, const PathWithLaneId & sparse_resample_path, const std::pair & crosswalk_attention_range, const Polygon2d & attention_area); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp index 6389637ca1526..755a32b08e024 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp @@ -111,14 +111,19 @@ bool checkRegulatoryElementExistence(const lanelet::LaneletMapPtr & lanelet_map_ return !lanelet::utils::query::crosswalks(all_lanelets).empty(); } -std::vector getPolygonIntersects( +/** + * @brief Calculate path end (= first and last) points on the crosswalk + * + * @return first and last path points on the crosswalk + */ +std::optional> +getPathEndPointsOnCrosswalk( const PathWithLaneId & ego_path, const lanelet::BasicPolygon2d & polygon, - const geometry_msgs::msg::Point & ego_pos, - const size_t max_num = std::numeric_limits::max()) + const geometry_msgs::msg::Point & ego_pos) { std::vector intersects{}; - bool found_max_num = false; + bool has_collision_twice = false; for (size_t i = 0; i < ego_path.points.size() - 1; ++i) { const auto & p_back = ego_path.points.at(i).point.pose.position; const auto & p_front = ego_path.points.at(i + 1).point.pose.position; @@ -129,13 +134,13 @@ std::vector getPolygonIntersects( for (const auto & p : tmp_intersects) { intersects.push_back(p); - if (intersects.size() == max_num) { - found_max_num = true; + if (intersects.size() == 2) { + has_collision_twice = true; break; } } - if (found_max_num) { + if (has_collision_twice) { break; } } @@ -152,22 +157,24 @@ std::vector getPolygonIntersects( std::sort(intersects.begin(), intersects.end(), compare); - // convert autoware::universe_utils::Point2d to geometry::msg::Point - std::vector geometry_points; - for (const auto & p : intersects) { - geometry_points.push_back(createPoint(p.x(), p.y(), ego_pos.z)); + if (intersects.empty()) { + return std::nullopt; } - return geometry_points; + + const auto & front_intersects = intersects.front(); + const auto & back_intersects = intersects.back(); + return std::make_pair( + createPoint(front_intersects.x(), front_intersects.y(), ego_pos.z), + createPoint(back_intersects.x(), back_intersects.y(), ego_pos.z)); } std::vector getLinestringIntersects( const PathWithLaneId & ego_path, const lanelet::BasicLineString2d & linestring, - const geometry_msgs::msg::Point & ego_pos, - const size_t max_num = std::numeric_limits::max()) + const geometry_msgs::msg::Point & ego_pos) { std::vector intersects{}; - bool found_max_num = false; + bool has_collision_twice = false; for (size_t i = 0; i < ego_path.points.size() - 1; ++i) { const auto & p_back = ego_path.points.at(i).point.pose.position; const auto & p_front = ego_path.points.at(i + 1).point.pose.position; @@ -178,13 +185,13 @@ std::vector getLinestringIntersects( for (const auto & p : tmp_intersects) { intersects.push_back(p); - if (intersects.size() == max_num) { - found_max_num = true; + if (intersects.size() == 2) { + has_collision_twice = true; break; } } - if (found_max_num) { + if (has_collision_twice) { break; } } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp index 5a64daa0f95fc..765732969951d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp @@ -54,14 +54,14 @@ WalkwayModule::WalkwayModule( } } -std::optional> WalkwayModule::getStopLine( +std::pair WalkwayModule::getStopLine( const PathWithLaneId & ego_path, bool & exist_stopline_in_map, - const std::vector & path_intersects) const + const geometry_msgs::msg::Point & first_path_point_on_walkway) const { const auto & ego_pos = planner_data_->current_odometry->pose.position; for (const auto & stop_line : stop_lines_) { - const auto p_stop_lines = getLinestringIntersects( - ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos, 2); + const auto p_stop_lines = + getLinestringIntersects(ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos); if (p_stop_lines.empty()) { continue; } @@ -73,18 +73,12 @@ std::optional> WalkwayModule::getSt return std::make_pair(dist_ego_to_stop, p_stop_lines.front()); } - { - exist_stopline_in_map = false; + exist_stopline_in_map = false; - if (!path_intersects.empty()) { - const auto p_stop_line = path_intersects.front(); - const auto dist_ego_to_stop = calcSignedArcLength(ego_path.points, ego_pos, p_stop_line) - - planner_param_.stop_distance_from_crosswalk; - return std::make_pair(dist_ego_to_stop, p_stop_line); - } - } - - return {}; + const auto p_stop_line = first_path_point_on_walkway; + const auto dist_ego_to_stop = calcSignedArcLength(ego_path.points, ego_pos, p_stop_line) - + planner_param_.stop_distance_from_crosswalk; + return std::make_pair(dist_ego_to_stop, p_stop_line); } bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) @@ -97,21 +91,19 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ const auto input = *path; const auto & ego_pos = planner_data_->current_odometry->pose.position; - const auto path_intersects = - getPolygonIntersects(input, walkway_.polygon2d().basicPolygon(), ego_pos, 2); - - if (path_intersects.empty()) { + const auto path_end_points_on_walkway = + getPathEndPointsOnCrosswalk(input, walkway_.polygon2d().basicPolygon(), ego_pos); + if (!path_end_points_on_walkway) { return false; } + const auto & first_path_point_on_walkway = path_end_points_on_walkway->first; + if (state_ == State::APPROACH) { bool exist_stopline_in_map; - const auto p_stop_line = getStopLine(input, exist_stopline_in_map, path_intersects); - if (!p_stop_line) { - return false; - } + const auto p_stop_line = getStopLine(input, exist_stopline_in_map, first_path_point_on_walkway); - const auto & p_stop = p_stop_line->second; + const auto & p_stop = p_stop_line.second; const auto stop_distance_from_crosswalk = exist_stopline_in_map ? 0.0 : planner_param_.stop_distance_from_crosswalk; const auto margin = stop_distance_from_crosswalk + base_link2front; @@ -129,7 +121,7 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ /* get stop point and stop factor */ StopFactor stop_factor; stop_factor.stop_pose = stop_pose.value(); - stop_factor.stop_factor_points.push_back(path_intersects.front()); + stop_factor.stop_factor_points.push_back(path_end_points_on_walkway->first); planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose.value(), diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp index 0099de46e1598..a400f57451d2e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp @@ -54,9 +54,9 @@ class WalkwayModule : public SceneModuleInterface private: const int64_t module_id_; - [[nodiscard]] std::optional> getStopLine( + [[nodiscard]] std::pair getStopLine( const PathWithLaneId & ego_path, bool & exist_stopline_in_map, - const std::vector & path_intersects) const; + const geometry_msgs::msg::Point & first_path_point_on_walkway) const; enum class State { APPROACH, STOP, SURPASSED }; From d8055a52ac41310d0373568a73d25c9197dbde68 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Thu, 18 Jul 2024 12:08:13 +0900 Subject: [PATCH 220/306] feat(autoware_universe_utils): add comment function to time_keeper (#7991) * update readme Signed-off-by: Y.Hisaki * refactoring Signed-off-by: Y.Hisaki * remove string reporter Signed-off-by: Y.Hisaki * fix readme.md Signed-off-by: Y.Hisaki * feat(autoware_universe_utils): add comment function to time_keeper Signed-off-by: Y.Hisaki * remove comment from scoped time track Signed-off-by: Y.Hisaki * modify readme Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- common/autoware_universe_utils/README.md | 26 ++++++++++++++----- .../examples/example_time_keeper.cpp | 3 +++ .../universe_utils/system/time_keeper.hpp | 15 +++++++++++ .../src/system/time_keeper.cpp | 21 ++++++++++++++- 4 files changed, 57 insertions(+), 8 deletions(-) diff --git a/common/autoware_universe_utils/README.md b/common/autoware_universe_utils/README.md index cd5e366c520fc..d49fced367908 100644 --- a/common/autoware_universe_utils/README.md +++ b/common/autoware_universe_utils/README.md @@ -46,9 +46,14 @@ explicit TimeKeeper(Reporters... reporters); - `func_name`: Name of the function to be tracked. - `void end_track(const std::string & func_name);` + - Ends tracking the processing time of a function. - `func_name`: Name of the function to end tracking. +- `void comment(const std::string & comment);` + - Adds a comment to the current function being tracked. + - `comment`: Comment to be added. + ##### Note - It's possible to start and end time measurements using `start_track` and `end_track` as shown below: @@ -86,7 +91,8 @@ public: // time_keeper_->add_reporter(publisher_); // time_keeper_->add_reporter(&std::cerr); - timer_ = create_wall_timer(std::chrono::seconds(1), std::bind(&ExampleNode::func_a, this)); + timer_ = + create_wall_timer(std::chrono::seconds(1), std::bind(&ExampleNode::func_a, this)); } private: @@ -100,6 +106,7 @@ private: // Start constructing ProcessingTimeTree (because func_a is the root function) autoware::universe_utils::ScopedTimeTrack st("func_a", *time_keeper_); std::this_thread::sleep_for(std::chrono::milliseconds(1)); + time_keeper_->comment("This is a comment for func_a"); func_b(); // End constructing ProcessingTimeTree. After this, the tree will be reported (publishing // message and outputting to std::cerr) @@ -109,6 +116,7 @@ private: { autoware::universe_utils::ScopedTimeTrack st("func_b", *time_keeper_); std::this_thread::sleep_for(std::chrono::milliseconds(2)); + time_keeper_->comment("This is a comment for func_b"); func_c(); } @@ -116,6 +124,7 @@ private: { autoware::universe_utils::ScopedTimeTrack st("func_c", *time_keeper_); std::this_thread::sleep_for(std::chrono::milliseconds(3)); + time_keeper_->comment("This is a comment for func_c"); } }; @@ -133,9 +142,9 @@ int main(int argc, char ** argv) ```text ========================== - func_a (6.382ms) - └── func_b (5.243ms) - └── func_c (3.146ms) + func_a (6.243ms) : This is a comment for func_a + └── func_b (5.116ms) : This is a comment for func_b + └── func_c (3.055ms) : This is a comment for func_c ``` - Output (`ros2 topic echo /processing_time`) @@ -145,16 +154,19 @@ int main(int argc, char ** argv) nodes: - id: 1 name: func_a - processing_time: 6.397 + processing_time: 6.366 parent_id: 0 + comment: This is a comment for func_a - id: 2 name: func_b - processing_time: 5.263 + processing_time: 5.237 parent_id: 1 + comment: This is a comment for func_b - id: 3 name: func_c - processing_time: 3.129 + processing_time: 3.156 parent_id: 2 + comment: This is a comment for func_c ``` #### `autoware::universe_utils::ScopedTimeTrack` diff --git a/common/autoware_universe_utils/examples/example_time_keeper.cpp b/common/autoware_universe_utils/examples/example_time_keeper.cpp index c50aa1e1a8342..12f0b4f31e897 100644 --- a/common/autoware_universe_utils/examples/example_time_keeper.cpp +++ b/common/autoware_universe_utils/examples/example_time_keeper.cpp @@ -49,6 +49,7 @@ class ExampleNode : public rclcpp::Node // Start constructing ProcessingTimeTree (because func_a is the root function) autoware::universe_utils::ScopedTimeTrack st("func_a", *time_keeper_); std::this_thread::sleep_for(std::chrono::milliseconds(1)); + time_keeper_->comment("This is a comment for func_a"); func_b(); // End constructing ProcessingTimeTree. After this, the tree will be reported (publishing // message and outputting to std::cerr) @@ -58,6 +59,7 @@ class ExampleNode : public rclcpp::Node { autoware::universe_utils::ScopedTimeTrack st("func_b", *time_keeper_); std::this_thread::sleep_for(std::chrono::milliseconds(2)); + time_keeper_->comment("This is a comment for func_b"); func_c(); } @@ -65,6 +67,7 @@ class ExampleNode : public rclcpp::Node { autoware::universe_utils::ScopedTimeTrack st("func_c", *time_keeper_); std::this_thread::sleep_for(std::chrono::milliseconds(3)); + time_keeper_->comment("This is a comment for func_c"); } }; diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp index c635138416aa5..d846c610bf1e2 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp @@ -86,6 +86,13 @@ class ProcessingTimeNode : public std::enable_shared_from_this parent_node_{nullptr}; //!< Shared pointer to the parent node std::vector> child_nodes_; //!< Vector of shared pointers to the child nodes @@ -145,6 +153,13 @@ class TimeKeeper */ void end_track(const std::string & func_name); + /** + * @brief Comment the current time node + * + * @param comment Comment to be added to the current time node + */ + void comment(const std::string & comment); + private: /** * @brief Report the processing times to all registered reporters diff --git a/common/autoware_universe_utils/src/system/time_keeper.cpp b/common/autoware_universe_utils/src/system/time_keeper.cpp index 429f063dfc62e..88038575c70f5 100644 --- a/common/autoware_universe_utils/src/system/time_keeper.cpp +++ b/common/autoware_universe_utils/src/system/time_keeper.cpp @@ -43,7 +43,11 @@ std::string ProcessingTimeNode::to_string() const if (!is_root) { oss << prefix << (is_last ? "└── " : "├── "); } - oss << node.name_ << " (" << node.processing_time_ << "ms)\n"; + if (!node.comment_.empty()) { + oss << node.name_ << " (" << node.processing_time_ << "ms) : " << node.comment_ << "\n"; + } else { + oss << node.name_ << " (" << node.processing_time_ << "ms)\n"; + } for (size_t i = 0; i < node.child_nodes_.size(); ++i) { const auto & child = node.child_nodes_[i]; construct_string( @@ -70,6 +74,7 @@ tier4_debug_msgs::msg::ProcessingTimeTree ProcessingTimeNode::to_msg() const time_node_msg.processing_time = node.processing_time_; time_node_msg.id = static_cast(tree_msg.nodes.size() + 1); time_node_msg.parent_id = parent_id; + time_node_msg.comment = node.comment_; tree_msg.nodes.emplace_back(time_node_msg); for (const auto & child : node.child_nodes_) { @@ -93,6 +98,12 @@ void ProcessingTimeNode::set_time(const double processing_time) { processing_time_ = processing_time; } + +void ProcessingTimeNode::set_comment(const std::string & comment) +{ + comment_ = comment; +} + std::string ProcessingTimeNode::get_name() const { return name_; @@ -124,6 +135,14 @@ void TimeKeeper::start_track(const std::string & func_name) stop_watch_.tic(func_name); } +void TimeKeeper::comment(const std::string & comment) +{ + if (current_time_node_ == nullptr) { + throw std::runtime_error("You must call start_track() first, but comment() is called"); + } + current_time_node_->set_comment(comment); +} + void TimeKeeper::end_track(const std::string & func_name) { if (current_time_node_->get_name() != func_name) { From bbcb8582a21b770f7160da493e91e657ea66229f Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 18 Jul 2024 13:34:20 +0900 Subject: [PATCH 221/306] feat(universe_utils): add GJK implementation for 2D convex polygon collision check (#7853) Signed-off-by: Maxime CLEMENT --- common/autoware_universe_utils/CMakeLists.txt | 2 + .../universe_utils/geometry/geometry.hpp | 8 +- .../universe_utils/geometry/gjk_2d.hpp | 29 ++++ .../geometry/random_convex_polygon.hpp | 29 ++++ .../src/geometry/geometry.cpp | 9 +- .../src/geometry/gjk_2d.cpp | 150 +++++++++++++++++ .../src/geometry/random_convex_polygon.cpp | 109 +++++++++++++ .../test/src/geometry/test_geometry.cpp | 153 +++++++++++++++++- 8 files changed, 486 insertions(+), 3 deletions(-) create mode 100644 common/autoware_universe_utils/include/autoware/universe_utils/geometry/gjk_2d.hpp create mode 100644 common/autoware_universe_utils/include/autoware/universe_utils/geometry/random_convex_polygon.hpp create mode 100644 common/autoware_universe_utils/src/geometry/gjk_2d.cpp create mode 100644 common/autoware_universe_utils/src/geometry/random_convex_polygon.cpp diff --git a/common/autoware_universe_utils/CMakeLists.txt b/common/autoware_universe_utils/CMakeLists.txt index 2fdeef2119ab8..526ffd8dcc83a 100644 --- a/common/autoware_universe_utils/CMakeLists.txt +++ b/common/autoware_universe_utils/CMakeLists.txt @@ -14,6 +14,8 @@ ament_auto_add_library(autoware_universe_utils SHARED src/geometry/geometry.cpp src/geometry/pose_deviation.cpp src/geometry/boost_polygon_utils.cpp + src/geometry/random_convex_polygon.cpp + src/geometry/gjk_2d.cpp src/math/sin_table.cpp src/math/trigonometry.cpp src/ros/msg_operation.cpp diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp index e6dd57c9d3fed..e6d0363846b20 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2020-2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -577,6 +577,12 @@ std::optional intersect( const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2, const geometry_msgs::msg::Point & p3, const geometry_msgs::msg::Point & p4); +/** + * @brief Check if 2 convex polygons intersect using the GJK algorithm + * @details much faster than boost::geometry::intersects() + */ +bool intersects_convex(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2); + } // namespace autoware::universe_utils #endif // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GEOMETRY_HPP_ diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/gjk_2d.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/gjk_2d.hpp new file mode 100644 index 0000000000000..7c432013215c8 --- /dev/null +++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/gjk_2d.hpp @@ -0,0 +1,29 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GJK_2D_HPP_ +#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GJK_2D_HPP_ + +#include "autoware/universe_utils/geometry/boost_geometry.hpp" + +namespace autoware::universe_utils::gjk +{ +/** + * @brief Check if 2 convex polygons intersect using the GJK algorithm + * @details much faster than boost::geometry::overlaps() but limited to convex polygons + */ +bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2); +} // namespace autoware::universe_utils::gjk + +#endif // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GJK_2D_HPP_ diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/random_convex_polygon.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/random_convex_polygon.hpp new file mode 100644 index 0000000000000..e28c4836b1a48 --- /dev/null +++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/random_convex_polygon.hpp @@ -0,0 +1,29 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__RANDOM_CONVEX_POLYGON_HPP_ +#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__RANDOM_CONVEX_POLYGON_HPP_ + +#include + +namespace autoware::universe_utils +{ +/// @brief generate a random convex polygon +/// @param vertices number of vertices for the desired polygon +/// @param max points will be generated in the range [-max,max] +/// @details algorithm from https://cglab.ca/~sander/misc/ConvexGeneration/convex.html +Polygon2d random_convex_polygon(const size_t vertices, const double max); +} // namespace autoware::universe_utils + +#endif // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__RANDOM_CONVEX_POLYGON_HPP_ diff --git a/common/autoware_universe_utils/src/geometry/geometry.cpp b/common/autoware_universe_utils/src/geometry/geometry.cpp index b0f5756fc2d94..5fda8eb3f4ca4 100644 --- a/common/autoware_universe_utils/src/geometry/geometry.cpp +++ b/common/autoware_universe_utils/src/geometry/geometry.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// Copyright 2023-2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -14,6 +14,8 @@ #include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/geometry/gjk_2d.hpp" + #include #include @@ -383,4 +385,9 @@ std::optional intersect( return intersect_point; } +bool intersects_convex(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2) +{ + return gjk::intersects(convex_polygon1, convex_polygon2); +} + } // namespace autoware::universe_utils diff --git a/common/autoware_universe_utils/src/geometry/gjk_2d.cpp b/common/autoware_universe_utils/src/geometry/gjk_2d.cpp new file mode 100644 index 0000000000000..86d5592fc4779 --- /dev/null +++ b/common/autoware_universe_utils/src/geometry/gjk_2d.cpp @@ -0,0 +1,150 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/universe_utils/geometry/gjk_2d.hpp" + +#include "autoware/universe_utils/geometry/boost_geometry.hpp" + +#include + +namespace autoware::universe_utils::gjk +{ + +namespace +{ +/// @brief structure with all variables updated during the GJK loop +/// @details for performance we only want to reserve their space in memory once +struct SimplexSearch +{ + // current triangle simplex + Point2d a; + Point2d b; + Point2d c; + Point2d co; // vector from C to the origin + Point2d ca; // vector from C to A + Point2d cb; // vector from C to B + Point2d ca_perpendicular; // perpendicular to CA + Point2d cb_perpendicular; // perpendicular to CB + Point2d direction; // current search direction +}; + +/// @brief calculate the dot product between 2 points +double dot_product(const Point2d & p1, const Point2d & p2) +{ + return p1.x() * p2.x() + p1.y() * p2.y(); +} + +/// @brief calculate the index of the furthest polygon vertex in the given direction +size_t furthest_vertex_idx(const Polygon2d & poly, const Point2d & direction) +{ + auto furthest_distance = dot_product(poly.outer()[0], direction); + size_t furthest_idx = 0UL; + for (auto i = 1UL; i < poly.outer().size(); ++i) { + const auto distance = dot_product(poly.outer()[i], direction); + if (distance > furthest_distance) { + furthest_distance = distance; + furthest_idx = i; + } + } + return furthest_idx; +} + +/// @brief calculate the next Minkowski difference vertex in the given direction +Point2d support_vertex(const Polygon2d & poly1, const Polygon2d & poly2, const Point2d & direction) +{ + const auto opposite_direction = Point2d(-direction.x(), -direction.y()); + const auto idx1 = furthest_vertex_idx(poly1, direction); + const auto idx2 = furthest_vertex_idx(poly2, opposite_direction); + return Point2d( + poly1.outer()[idx1].x() - poly2.outer()[idx2].x(), + poly1.outer()[idx1].y() - poly2.outer()[idx2].y()); +} + +/// @brief return true if both points are in the same direction +bool same_direction(const Point2d & p1, const Point2d & p2) +{ + return dot_product(p1, p2) > 0.0; +} + +/// @brief return the triple cross product of the given points +Point2d cross_product(const Point2d & p1, const Point2d & p2, const Point2d & p3) +{ + const auto tmp = p1.x() * p2.y() - p1.y() * p2.x(); + return Point2d(-p3.y() * tmp, p3.x() * tmp); +} + +/// @brief update the search simplex and search direction to try to surround the origin +bool update_search_simplex_and_direction(SimplexSearch & search) +{ + bool continue_search = false; + search.co.x() = -search.c.x(); + search.co.y() = -search.c.y(); + search.ca.x() = search.a.x() - search.c.x(); + search.ca.y() = search.a.y() - search.c.y(); + search.cb.x() = search.b.x() - search.c.x(); + search.cb.y() = search.b.y() - search.c.y(); + search.ca_perpendicular = cross_product(search.cb, search.ca, search.ca); + search.cb_perpendicular = cross_product(search.ca, search.cb, search.cb); + if (same_direction(search.ca_perpendicular, search.co)) { + search.b.x() = search.c.x(); + search.b.y() = search.c.y(); + search.direction.x() = search.ca_perpendicular.x(); + search.direction.y() = search.ca_perpendicular.y(); + continue_search = true; + } else if (same_direction(search.cb_perpendicular, search.co)) { + search.a.x() = search.c.x(); + search.a.y() = search.c.y(); + search.direction.x() = search.cb_perpendicular.x(); + search.direction.y() = search.cb_perpendicular.y(); + continue_search = true; + } + return continue_search; +} +} // namespace + +/// @brief return true if the two given polygons intersect +/// @details if the intersection area is 0 (e.g., only one point or one edge intersect), the return +/// value is false +bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2) +{ + if (convex_polygon1.outer().empty() || convex_polygon2.outer().empty()) { + return false; + } + if (boost::geometry::equals(convex_polygon1, convex_polygon2)) { + return true; + } + + SimplexSearch search; + search.direction = {1.0, 0.0}; + search.a = support_vertex(convex_polygon1, convex_polygon2, search.direction); + search.direction = {-search.a.x(), -search.a.y()}; + search.b = support_vertex(convex_polygon1, convex_polygon2, search.direction); + if (dot_product(search.b, search.direction) <= 0.0) { // the Minkowski difference does not cross + // the origin + return false; // no collision + } + Point2d ab = {search.b.x() - search.a.x(), search.b.y() - search.a.y()}; + Point2d ao = {-search.a.x(), -search.a.y()}; + search.direction = cross_product(ab, ao, ab); + bool continue_search = true; + while (continue_search) { + search.c = support_vertex(convex_polygon1, convex_polygon2, search.direction); + if (!same_direction(search.c, search.direction)) { // no more vertex in the search direction + return false; // no collision + } + continue_search = update_search_simplex_and_direction(search); + } + return true; +} +} // namespace autoware::universe_utils::gjk diff --git a/common/autoware_universe_utils/src/geometry/random_convex_polygon.cpp b/common/autoware_universe_utils/src/geometry/random_convex_polygon.cpp new file mode 100644 index 0000000000000..d857956806554 --- /dev/null +++ b/common/autoware_universe_utils/src/geometry/random_convex_polygon.cpp @@ -0,0 +1,109 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/universe_utils/geometry/random_convex_polygon.hpp" + +#include + +#include +#include +#include + +namespace autoware::universe_utils +{ +namespace +{ +struct VectorsWithMin +{ + std::vector vectors; + double min; +}; + +VectorsWithMin prepare_coordinate_vectors( + const size_t nb_vertices, std::uniform_real_distribution & random_double, + std::uniform_int_distribution & random_bool, std::default_random_engine & random_engine) +{ + std::vector v; + for (auto i = 0UL; i < nb_vertices; ++i) { + v.push_back(random_double(random_engine)); + } + std::sort(v.begin(), v.end()); + const auto min_v = v.front(); + const auto max_v = v.back(); + std::vector v1; + v1.push_back(min_v); + std::vector v2; + v2.push_back(min_v); + for (auto i = 1UL; i + 1 < v.size(); ++i) { + if (random_bool(random_engine) == 0) { + v1.push_back((v[i])); + } else { + v2.push_back((v[i])); + } + } + v1.push_back(max_v); + v2.push_back(max_v); + std::vector diffs; + for (auto i = 0UL; i + 1 < v1.size(); ++i) { + diffs.push_back(v1[i + 1] - v1[i]); + } + for (auto i = 0UL; i + 1 < v2.size(); ++i) { + diffs.push_back(v2[i] - v2[i + 1]); + } + VectorsWithMin vectors; + vectors.vectors = diffs; + vectors.min = min_v; + return vectors; +} +} // namespace +Polygon2d random_convex_polygon(const size_t vertices, const double max) +{ + std::random_device r; + std::default_random_engine random_engine(r()); + std::uniform_real_distribution uniform_dist(-max, max); + std::uniform_int_distribution random_bool(0, 1); + auto xs = prepare_coordinate_vectors(vertices, uniform_dist, random_bool, random_engine); + auto ys = prepare_coordinate_vectors(vertices, uniform_dist, random_bool, random_engine); + std::shuffle(ys.vectors.begin(), ys.vectors.end(), random_engine); + LinearRing2d vectors; + for (auto i = 0UL; i < xs.vectors.size(); ++i) { + vectors.emplace_back(xs.vectors[i], ys.vectors[i]); + } + std::sort(vectors.begin(), vectors.end(), [](const Point2d & p1, const Point2d & p2) { + return std::atan2(p1.y(), p1.x()) < std::atan2(p2.y(), p2.x()); + }); + auto min_x = max; + auto min_y = max; + auto x = 0.0; + auto y = 0.0; + LinearRing2d points; + for (const auto & p : vectors) { + points.emplace_back(x, y); + x += p.x(); + y += p.y(); + min_x = std::min(p.x(), min_x); + min_y = std::min(p.y(), min_y); + } + const auto shift_x = min_x - xs.min; + const auto shift_y = min_y - ys.min; + for (auto & p : points) { + p.x() += shift_x; + p.y() += shift_y; + } + Polygon2d poly; + poly.outer() = points; + boost::geometry::correct(poly); + return poly; +} +} // namespace autoware::universe_utils diff --git a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp index 194cd7d503d12..b014d12dbd985 100644 --- a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp +++ b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2020-2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,13 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/universe_utils/geometry/boost_geometry.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/geometry/random_convex_polygon.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" #include +#include +#include + #include +#include #include constexpr double epsilon = 1e-6; @@ -1829,3 +1836,147 @@ TEST(geometry, intersect) EXPECT_NEAR(result->z, 0.0, epsilon); } } + +TEST(geometry, intersectPolygon) +{ + { // 2 triangles with intersection + autoware::universe_utils::Polygon2d poly1; + autoware::universe_utils::Polygon2d poly2; + poly1.outer().emplace_back(0, 2); + poly1.outer().emplace_back(2, 2); + poly1.outer().emplace_back(2, 0); + poly2.outer().emplace_back(1, 1); + poly2.outer().emplace_back(1, 0); + poly2.outer().emplace_back(0, 1); + boost::geometry::correct(poly1); + boost::geometry::correct(poly2); + EXPECT_TRUE(autoware::universe_utils::intersects_convex(poly1, poly2)); + } + { // 2 triangles with no intersection (but they share an edge) + autoware::universe_utils::Polygon2d poly1; + autoware::universe_utils::Polygon2d poly2; + poly1.outer().emplace_back(0, 2); + poly1.outer().emplace_back(2, 2); + poly1.outer().emplace_back(0, 0); + poly2.outer().emplace_back(0, 0); + poly2.outer().emplace_back(2, 0); + poly2.outer().emplace_back(2, 2); + boost::geometry::correct(poly1); + boost::geometry::correct(poly2); + EXPECT_FALSE(autoware::universe_utils::intersects_convex(poly1, poly2)); + } + { // 2 triangles with no intersection (but they share a point) + autoware::universe_utils::Polygon2d poly1; + autoware::universe_utils::Polygon2d poly2; + poly1.outer().emplace_back(0, 2); + poly1.outer().emplace_back(2, 2); + poly1.outer().emplace_back(0, 0); + poly2.outer().emplace_back(4, 4); + poly2.outer().emplace_back(4, 2); + poly2.outer().emplace_back(2, 2); + boost::geometry::correct(poly1); + boost::geometry::correct(poly2); + EXPECT_FALSE(autoware::universe_utils::intersects_convex(poly1, poly2)); + } + { // 2 triangles sharing a point and then with very small intersection + autoware::universe_utils::Polygon2d poly1; + autoware::universe_utils::Polygon2d poly2; + poly1.outer().emplace_back(0, 0); + poly1.outer().emplace_back(2, 2); + poly1.outer().emplace_back(4, 0); + poly2.outer().emplace_back(0, 4); + poly2.outer().emplace_back(2, 2); + poly2.outer().emplace_back(4, 4); + boost::geometry::correct(poly1); + boost::geometry::correct(poly2); + EXPECT_FALSE(autoware::universe_utils::intersects_convex(poly1, poly2)); + poly1.outer()[1].y() += 1e-12; + EXPECT_TRUE(autoware::universe_utils::intersects_convex(poly1, poly2)); + } + { // 2 triangles with no intersection and no touching + autoware::universe_utils::Polygon2d poly1; + autoware::universe_utils::Polygon2d poly2; + poly1.outer().emplace_back(0, 2); + poly1.outer().emplace_back(2, 2); + poly1.outer().emplace_back(0, 0); + poly2.outer().emplace_back(4, 4); + poly2.outer().emplace_back(5, 5); + poly2.outer().emplace_back(3, 5); + boost::geometry::correct(poly1); + boost::geometry::correct(poly2); + EXPECT_FALSE(autoware::universe_utils::intersects_convex(poly1, poly2)); + } + { // triangle and quadrilateral with intersection + autoware::universe_utils::Polygon2d poly1; + autoware::universe_utils::Polygon2d poly2; + poly1.outer().emplace_back(4, 11); + poly1.outer().emplace_back(4, 5); + poly1.outer().emplace_back(9, 9); + poly2.outer().emplace_back(5, 7); + poly2.outer().emplace_back(7, 3); + poly2.outer().emplace_back(10, 2); + poly2.outer().emplace_back(12, 7); + boost::geometry::correct(poly1); + boost::geometry::correct(poly2); + EXPECT_TRUE(autoware::universe_utils::intersects_convex(poly1, poly2)); + } +} + +TEST(geometry, intersectPolygonRand) +{ + std::vector polygons; + constexpr auto polygons_nb = 500; + constexpr auto max_vertices = 10; + constexpr auto max_values = 1000; + + autoware::universe_utils::StopWatch sw; + for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { + double ground_truth_intersect_ns = 0.0; + double ground_truth_no_intersect_ns = 0.0; + double gjk_intersect_ns = 0.0; + double gjk_no_intersect_ns = 0.0; + int intersect_count = 0; + polygons.clear(); + for (auto i = 0; i < polygons_nb; ++i) { + polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); + } + for (auto i = 0UL; i < polygons.size(); ++i) { + for (auto j = 0UL; j < polygons.size(); ++j) { + sw.tic(); + const auto ground_truth = boost::geometry::intersects(polygons[i], polygons[j]); + if (ground_truth) { + ++intersect_count; + ground_truth_intersect_ns += sw.toc(); + } else { + ground_truth_no_intersect_ns += sw.toc(); + } + sw.tic(); + const auto gjk = autoware::universe_utils::intersects_convex(polygons[i], polygons[j]); + if (gjk) { + gjk_intersect_ns += sw.toc(); + } else { + gjk_no_intersect_ns += sw.toc(); + } + if (ground_truth != gjk) { + std::cout << "Failed for the 2 polygons: "; + std::cout << boost::geometry::wkt(polygons[i]) << boost::geometry::wkt(polygons[j]) + << std::endl; + } + EXPECT_EQ(ground_truth, gjk); + } + } + std::printf( + "polygons_nb = %d, vertices = %ld, %d / %d pairs with intersects\n", polygons_nb, vertices, + intersect_count, polygons_nb * polygons_nb); + std::printf( + "\tIntersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tGJK = %2.2f ms\n", + ground_truth_intersect_ns / 1e6, gjk_intersect_ns / 1e6); + std::printf( + "\tNo Intersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tGJK = %2.2f ms\n", + ground_truth_no_intersect_ns / 1e6, gjk_no_intersect_ns / 1e6); + std::printf( + "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tGJK = %2.2f ms\n", + (ground_truth_no_intersect_ns + ground_truth_intersect_ns) / 1e6, + (gjk_no_intersect_ns + gjk_intersect_ns) / 1e6); + } +} From da77c3e2272a4dc8c07a7f52f8f138c08fe03ef3 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 18 Jul 2024 14:33:21 +0900 Subject: [PATCH 222/306] refactor(image_projection_based_fusion): fix namespace and directory structure (#7990) * refactor: add autoware on namespace Signed-off-by: Taekjin LEE * refactor: move headers under autoware Signed-off-by: Taekjin LEE refactor: move image_projection_based_fusion headers under autoware namespace * fix: remove unused dependencies Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../CMakeLists.txt | 10 ++++---- .../debugger.hpp | 10 ++++---- .../fusion_node.hpp | 12 +++++----- .../pointpainting_fusion/node.hpp | 18 +++++++-------- .../pointcloud_densification.hpp | 11 +++++---- .../pointpainting_trt.hpp | 12 +++++----- .../preprocess_kernel.hpp | 10 ++++---- .../pointpainting_fusion/voxel_generator.hpp | 12 +++++----- .../roi_cluster_fusion/node.hpp | 12 +++++----- .../roi_detected_object_fusion/node.hpp | 14 +++++------ .../roi_pointcloud_fusion/node.hpp | 14 +++++------ .../segmentation_pointcloud_fusion/node.hpp | 14 +++++------ .../utils/geometry.hpp | 10 ++++---- .../utils/utils.hpp | 12 +++++----- .../launch/pointpainting_fusion.launch.xml | 2 +- .../image_projection_based_fusion/package.xml | 3 --- .../src/debugger.cpp | 6 ++--- .../src/fusion_node.cpp | 6 ++--- .../src/pointpainting_fusion/node.cpp | 12 +++++----- .../pointcloud_densification.cpp | 6 ++--- .../pointpainting_trt.cpp | 8 +++---- .../pointpainting_fusion/preprocess_kernel.cu | 6 ++--- .../pointpainting_fusion/voxel_generator.cpp | 6 ++--- .../src/roi_cluster_fusion/node.cpp | 12 +++++----- .../src/roi_detected_object_fusion/node.cpp | 13 ++++++----- .../src/roi_pointcloud_fusion/node.cpp | 12 +++++----- .../segmentation_pointcloud_fusion/node.cpp | 13 ++++++----- .../src/utils/geometry.cpp | 6 ++--- .../src/utils/utils.cpp | 6 ++--- .../test/test_calc_iou_functions.cpp | 8 +++---- .../test/test_geometry.cpp | 23 ++++++++++--------- .../test/test_pointpainting_fusion.cpp | 10 ++++---- .../test/test_utils.cpp | 10 ++++---- 33 files changed, 170 insertions(+), 169 deletions(-) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/debugger.hpp (86%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/fusion_node.hpp (93%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/pointpainting_fusion/node.hpp (80%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp (82%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp (72%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp (81%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp (73%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/roi_cluster_fusion/node.hpp (84%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/roi_detected_object_fusion/node.hpp (82%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp (77%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp (82%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/utils/geometry.hpp (87%) rename perception/image_projection_based_fusion/include/{ => autoware}/image_projection_based_fusion/utils/utils.hpp (89%) mode change 100755 => 100644 perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp diff --git a/perception/image_projection_based_fusion/CMakeLists.txt b/perception/image_projection_based_fusion/CMakeLists.txt index 6be7defe422c3..48c285eeb3d88 100644 --- a/perception/image_projection_based_fusion/CMakeLists.txt +++ b/perception/image_projection_based_fusion/CMakeLists.txt @@ -32,22 +32,22 @@ target_link_libraries(${PROJECT_NAME} ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "image_projection_based_fusion::RoiDetectedObjectFusionNode" + PLUGIN "autoware::image_projection_based_fusion::RoiDetectedObjectFusionNode" EXECUTABLE roi_detected_object_fusion_node ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "image_projection_based_fusion::RoiClusterFusionNode" + PLUGIN "autoware::image_projection_based_fusion::RoiClusterFusionNode" EXECUTABLE roi_cluster_fusion_node ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "image_projection_based_fusion::SegmentPointCloudFusionNode" + PLUGIN "autoware::image_projection_based_fusion::SegmentPointCloudFusionNode" EXECUTABLE segmentation_pointcloud_fusion_node ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "image_projection_based_fusion::RoiPointCloudFusionNode" + PLUGIN "autoware::image_projection_based_fusion::RoiPointCloudFusionNode" EXECUTABLE roi_pointcloud_fusion_node ) @@ -149,7 +149,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ) rclcpp_components_register_node(pointpainting_lib - PLUGIN "image_projection_based_fusion::PointPaintingFusionNode" + PLUGIN "autoware::image_projection_based_fusion::PointPaintingFusionNode" EXECUTABLE pointpainting_fusion_node ) diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp similarity index 86% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp index e4b1913effed5..ba7f8b6ca3496 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_ #define EIGEN_MPL2_ONLY @@ -31,7 +31,7 @@ #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { using sensor_msgs::msg::RegionOfInterest; @@ -66,6 +66,6 @@ class Debugger std::size_t image_buffer_size_; }; -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_ +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp similarity index 93% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp index df8bf66433300..d4e498212ac36 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ +#include #include #include -#include #include #include @@ -44,7 +44,7 @@ #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { using autoware_perception_msgs::msg::DetectedObject; using autoware_perception_msgs::msg::DetectedObjects; @@ -142,6 +142,6 @@ class FusionNode : public rclcpp::Node std::unique_ptr debug_publisher_; }; -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp similarity index 80% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp index 756cb4224bc20..964624614ec57 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ -#include "image_projection_based_fusion/fusion_node.hpp" -#include "image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp" +#include "autoware/image_projection_based_fusion/fusion_node.hpp" +#include "autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp" #include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp" -#include -#include +#include +#include #include #include @@ -29,7 +29,7 @@ #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { using Label = autoware_perception_msgs::msg::ObjectClassification; @@ -78,5 +78,5 @@ class PointPaintingFusionNode bool out_of_scope(const DetectedObjects & obj); }; -} // namespace image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ +} // namespace autoware::image_projection_based_fusion +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp similarity index 82% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp index 03609eb18e689..845db88467c15 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_ #include #include @@ -29,7 +29,7 @@ #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { struct PointCloudWithTransform { @@ -67,6 +67,7 @@ class PointCloudDensification std::list pointcloud_cache_; }; -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_ +// NOLINTNEXTLINE(whitespace/line_length) +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp similarity index 72% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp index c8318f79bbeed..daf925c2ff9f3 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_ -#include +#include #include #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { class PointPaintingTRT : public centerpoint::CenterPointTRT { @@ -40,6 +40,6 @@ class PointPaintingTRT : public centerpoint::CenterPointTRT std::unique_ptr vg_ptr_pp_{nullptr}; }; -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_ +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp similarity index 81% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp index 897609fa3d86d..70a9fbb4a2244 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_ #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { cudaError_t generateVoxels_random_launch( const float * points, size_t points_size, float min_x_range, float max_x_range, float min_y_range, @@ -38,6 +38,6 @@ cudaError_t generateFeatures_launch( const float range_min_y, const float range_min_z, float * features, const std::size_t encoder_in_feature_size, cudaStream_t stream); -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_ +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp similarity index 73% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp index 4cdca8e49ac7e..f303a98824ece 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ -#include +#include #include #include @@ -23,7 +23,7 @@ #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { class VoxelGenerator @@ -45,6 +45,6 @@ class VoxelGenerator std::array grid_size_; std::array recip_voxel_size_; }; -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp similarity index 84% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp index b9471f2f3b78e..abececee35c25 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_ -#include "image_projection_based_fusion/fusion_node.hpp" +#include "autoware/image_projection_based_fusion/fusion_node.hpp" #include #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { const std::map IOU_MODE_MAP{{"iou", 0}, {"iou_x", 1}, {"iou_y", 2}}; @@ -61,6 +61,6 @@ class RoiClusterFusionNode // bool CheckUnknown(const DetectedObjectsWithFeature & obj); }; -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_ +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_detected_object_fusion/node.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp similarity index 82% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_detected_object_fusion/node.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp index d61ced593de78..ea15a2df5efe2 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_detected_object_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_ +#include "autoware/image_projection_based_fusion/fusion_node.hpp" #include "autoware/universe_utils/ros/debug_publisher.hpp" -#include "image_projection_based_fusion/fusion_node.hpp" -#include +#include #include "autoware_perception_msgs/msg/object_classification.hpp" @@ -26,7 +26,7 @@ #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { using sensor_msgs::msg::RegionOfInterest; @@ -74,6 +74,6 @@ class RoiDetectedObjectFusionNode ignored_object_flags_map_; }; -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_ +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp similarity index 77% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp index 4d4fd8d2dac42..c7cad2b5a64d0 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_ -#include "image_projection_based_fusion/fusion_node.hpp" +#include "autoware/image_projection_based_fusion/fusion_node.hpp" -#include +#include #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { class RoiPointCloudFusionNode : public FusionNode @@ -52,5 +52,5 @@ class RoiPointCloudFusionNode bool out_of_scope(const DetectedObjectWithFeature & obj); }; -} // namespace image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_ +} // namespace autoware::image_projection_based_fusion +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp similarity index 82% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp index 89b33775f7898..c57d455300125 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_ -#include "image_projection_based_fusion/fusion_node.hpp" +#include "autoware/image_projection_based_fusion/fusion_node.hpp" -#include +#include #include #include @@ -29,7 +29,7 @@ #include #endif -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { class SegmentPointCloudFusionNode : public FusionNode { @@ -66,5 +66,5 @@ class SegmentPointCloudFusionNode : public FusionNode -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { using autoware_perception_msgs::msg::Shape; @@ -66,6 +66,6 @@ bool is_inside( void sanitizeROI(sensor_msgs::msg::RegionOfInterest & roi, const int width, const int height); -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__UTILS__GEOMETRY_HPP_ +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__UTILS__GEOMETRY_HPP_ diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/utils.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp similarity index 89% rename from perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/utils.hpp rename to perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp index 107e0d6c179a8..702b085dd31d7 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/utils.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef IMAGE_PROJECTION_BASED_FUSION__UTILS__UTILS_HPP_ -#define IMAGE_PROJECTION_BASED_FUSION__UTILS__UTILS_HPP_ +#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__UTILS__UTILS_HPP_ +#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__UTILS__UTILS_HPP_ #define EIGEN_MPL2_ONLY @@ -32,7 +32,7 @@ #include #endif -#include "image_projection_based_fusion/fusion_node.hpp" +#include "autoware/image_projection_based_fusion/fusion_node.hpp" #include #include @@ -51,7 +51,7 @@ #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { using PointCloud = pcl::PointCloud; @@ -92,6 +92,6 @@ void addShapeAndKinematic( const pcl::PointCloud & cluster, tier4_perception_msgs::msg::DetectedObjectWithFeature & feature_obj); -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion -#endif // IMAGE_PROJECTION_BASED_FUSION__UTILS__UTILS_HPP_ +#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__UTILS__UTILS_HPP_ diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml index d2f803f13d376..ed583c7a46b0a 100644 --- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml @@ -45,7 +45,7 @@ - + diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml index 00ffdc8fd5528..f7a95ae4c70d6 100644 --- a/perception/image_projection_based_fusion/package.xml +++ b/perception/image_projection_based_fusion/package.xml @@ -26,12 +26,9 @@ lidar_centerpoint message_filters object_recognition_utils - pcl_conversions - pcl_ros rclcpp rclcpp_components sensor_msgs - tf2 tf2_eigen tf2_ros tf2_sensor_msgs diff --git a/perception/image_projection_based_fusion/src/debugger.cpp b/perception/image_projection_based_fusion/src/debugger.cpp index a51c23a77aac6..90952f3f6a8f5 100644 --- a/perception/image_projection_based_fusion/src/debugger.cpp +++ b/perception/image_projection_based_fusion/src/debugger.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/debugger.hpp" +#include "autoware/image_projection_based_fusion/debugger.hpp" #if __has_include() #include @@ -36,7 +36,7 @@ void drawRoiOnImage( } // namespace -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { Debugger::Debugger( rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size, @@ -154,4 +154,4 @@ void Debugger::publishImage(const std::size_t image_id, const rclcpp::Time & sta } } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp index 20273fd1de547..6cc4a0c23adcc 100644 --- a/perception/image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/image_projection_based_fusion/src/fusion_node.cpp @@ -14,7 +14,7 @@ #define EIGEN_MPL2_ONLY -#include "image_projection_based_fusion/fusion_node.hpp" +#include "autoware/image_projection_based_fusion/fusion_node.hpp" #include #include @@ -37,7 +37,7 @@ // static int publish_counter = 0; static double processing_time_ms = 0; -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { template @@ -437,4 +437,4 @@ template class FusionNode< template class FusionNode; template class FusionNode; template class FusionNode; -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp index 6947331d6bcfa..af6901f8988b3 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/pointpainting_fusion/node.hpp" +#include "autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp" #include "autoware_point_types/types.hpp" +#include +#include #include #include -#include -#include #include #include #include @@ -42,7 +42,7 @@ Eigen::Affine3f _transformToEigen(const geometry_msgs::msg::Transform & t) } // namespace -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { inline bool isVehicle(int label2d) @@ -418,7 +418,7 @@ bool PointPaintingFusionNode::out_of_scope(__attribute__((unused)) const Detecte { return false; } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion #include -RCLCPP_COMPONENTS_REGISTER_NODE(image_projection_based_fusion::PointPaintingFusionNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::image_projection_based_fusion::PointPaintingFusionNode) diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointcloud_densification.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointcloud_densification.cpp index 9edf6a73cd59b..291baa392ecbc 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointcloud_densification.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointcloud_densification.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp" +#include "autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp" #include @@ -54,7 +54,7 @@ Eigen::Affine3f transformToEigen(const geometry_msgs::msg::Transform & t) } // namespace -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { PointCloudDensification::PointCloudDensification(const centerpoint::DensificationParam & param) : param_(param) @@ -100,4 +100,4 @@ void PointCloudDensification::dequeue() } } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp index c1e431ed83c99..59c747c8f1cfa 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp" +#include "autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp" +#include #include -#include #include #include @@ -24,7 +24,7 @@ #include #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { PointPaintingTRT::PointPaintingTRT( const centerpoint::NetworkParam & encoder_param, const centerpoint::NetworkParam & head_param, @@ -81,4 +81,4 @@ bool PointPaintingTRT::preprocess( return true; } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu b/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu index 68e08ac61a569..82ab7e954fad1 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu @@ -28,7 +28,7 @@ * limitations under the License. */ -#include "image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp" +#include "autoware/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp" #include // #include @@ -55,7 +55,7 @@ std::size_t divup(const std::size_t a, const std::size_t b) } // namespace -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { __global__ void generateVoxels_random_kernel( const float * points, size_t points_size, float min_x_range, float max_x_range, float min_y_range, @@ -269,4 +269,4 @@ cudaError_t generateFeatures_launch( return cudaGetLastError(); } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp old mode 100755 new mode 100644 index cb3fc33d3e022..b0c6d0f888b08 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp" +#include "autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp" #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { VoxelGenerator::VoxelGenerator( @@ -83,4 +83,4 @@ size_t VoxelGenerator::generateSweepPoints(std::vector & points) return point_counter; } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index 51987cbbcab84..d4d5de3cfd381 100644 --- a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/roi_cluster_fusion/node.hpp" +#include "autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp" -#include -#include +#include +#include #include #include @@ -28,7 +28,7 @@ #include #endif -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { RoiClusterFusionNode::RoiClusterFusionNode(const rclcpp::NodeOptions & options) @@ -290,7 +290,7 @@ double RoiClusterFusionNode::cal_iou_by_mode( } } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion #include -RCLCPP_COMPONENTS_REGISTER_NODE(image_projection_based_fusion::RoiClusterFusionNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::image_projection_based_fusion::RoiClusterFusionNode) diff --git a/perception/image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp index 7d85ecb2f9200..e2197c148bcf9 100644 --- a/perception/image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/roi_detected_object_fusion/node.hpp" +#include "autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" -#include -#include +#include +#include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { RoiDetectedObjectFusionNode::RoiDetectedObjectFusionNode(const rclcpp::NodeOptions & options) @@ -324,7 +324,8 @@ void RoiDetectedObjectFusionNode::publish(const DetectedObjects & output_msg) ignored_object_flags_map_.erase(timestamp_nsec); } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion #include -RCLCPP_COMPONENTS_REGISTER_NODE(image_projection_based_fusion::RoiDetectedObjectFusionNode) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::image_projection_based_fusion::RoiDetectedObjectFusionNode) diff --git a/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp index 904e66cb53298..40406d6e420b7 100644 --- a/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/roi_pointcloud_fusion/node.hpp" +#include "autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp" -#include "image_projection_based_fusion/utils/geometry.hpp" -#include "image_projection_based_fusion/utils/utils.hpp" +#include "autoware/image_projection_based_fusion/utils/geometry.hpp" +#include "autoware/image_projection_based_fusion/utils/utils.hpp" #ifdef ROS_DISTRO_GALACTIC #include @@ -27,7 +27,7 @@ #include "autoware/euclidean_cluster/utils.hpp" -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { RoiPointCloudFusionNode::RoiPointCloudFusionNode(const rclcpp::NodeOptions & options) : FusionNode( @@ -174,7 +174,7 @@ bool RoiPointCloudFusionNode::out_of_scope(__attribute__((unused)) { return false; } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion #include -RCLCPP_COMPONENTS_REGISTER_NODE(image_projection_based_fusion::RoiPointCloudFusionNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::image_projection_based_fusion::RoiPointCloudFusionNode) diff --git a/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp b/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp index 9a983252af436..5c93fa6c2fd1b 100644 --- a/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp" +#include "autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp" -#include "image_projection_based_fusion/utils/geometry.hpp" -#include "image_projection_based_fusion/utils/utils.hpp" +#include "autoware/image_projection_based_fusion/utils/geometry.hpp" +#include "autoware/image_projection_based_fusion/utils/utils.hpp" #ifdef ROS_DISTRO_GALACTIC #include @@ -25,7 +25,7 @@ #include #endif -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { SegmentPointCloudFusionNode::SegmentPointCloudFusionNode(const rclcpp::NodeOptions & options) : FusionNode("segmentation_pointcloud_fusion", options) @@ -155,7 +155,8 @@ bool SegmentPointCloudFusionNode::out_of_scope(__attribute__((unused)) { return false; } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion #include -RCLCPP_COMPONENTS_REGISTER_NODE(image_projection_based_fusion::SegmentPointCloudFusionNode) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::image_projection_based_fusion::SegmentPointCloudFusionNode) diff --git a/perception/image_projection_based_fusion/src/utils/geometry.cpp b/perception/image_projection_based_fusion/src/utils/geometry.cpp index 29198280ec7b2..4bea6ac0fe713 100644 --- a/perception/image_projection_based_fusion/src/utils/geometry.cpp +++ b/perception/image_projection_based_fusion/src/utils/geometry.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/utils/geometry.hpp" +#include "autoware/image_projection_based_fusion/utils/geometry.hpp" #include -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { double calcIoU( @@ -204,4 +204,4 @@ void sanitizeROI(sensor_msgs::msg::RegionOfInterest & roi, const int width_, con } } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/src/utils/utils.cpp b/perception/image_projection_based_fusion/src/utils/utils.cpp index aeec2886a801a..0432242417e19 100644 --- a/perception/image_projection_based_fusion/src/utils/utils.cpp +++ b/perception/image_projection_based_fusion/src/utils/utils.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/utils/utils.hpp" +#include "autoware/image_projection_based_fusion/utils/utils.hpp" -namespace image_projection_based_fusion +namespace autoware::image_projection_based_fusion { Eigen::Vector2d calcRawImageProjectedPoint( const image_geometry::PinholeCameraModel & pinhole_camera_model, const cv::Point3d & point3d) @@ -277,4 +277,4 @@ pcl::PointXYZ getClosestPoint(const pcl::PointCloud & cluster) return closest_point; } -} // namespace image_projection_based_fusion +} // namespace autoware::image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/test/test_calc_iou_functions.cpp b/perception/image_projection_based_fusion/test/test_calc_iou_functions.cpp index 1cddef44c0bac..8f2cf87d47bf2 100644 --- a/perception/image_projection_based_fusion/test/test_calc_iou_functions.cpp +++ b/perception/image_projection_based_fusion/test/test_calc_iou_functions.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/utils/geometry.hpp" +#include "autoware/image_projection_based_fusion/utils/geometry.hpp" #include -using image_projection_based_fusion::calcIoU; -using image_projection_based_fusion::calcIoUX; -using image_projection_based_fusion::calcIoUY; +using autoware::image_projection_based_fusion::calcIoU; +using autoware::image_projection_based_fusion::calcIoUX; +using autoware::image_projection_based_fusion::calcIoUY; TEST(GeometryTest, CalcIoU) { diff --git a/perception/image_projection_based_fusion/test/test_geometry.cpp b/perception/image_projection_based_fusion/test/test_geometry.cpp index eae5f7cef728c..cf3778e7a0c84 100644 --- a/perception/image_projection_based_fusion/test/test_geometry.cpp +++ b/perception/image_projection_based_fusion/test/test_geometry.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "image_projection_based_fusion/utils/geometry.hpp" +#include "autoware/image_projection_based_fusion/utils/geometry.hpp" #include @@ -37,7 +37,7 @@ TEST(objectToVertices, test_objectToVertices) shape.dimensions.z = 8.0; std::vector vertices; - image_projection_based_fusion::objectToVertices(pose, shape, vertices); + autoware::image_projection_based_fusion::objectToVertices(pose, shape, vertices); EXPECT_FALSE(vertices.empty()); EXPECT_NEAR(vertices.at(0).x(), 1.2320508075688772935274, 1e-6); @@ -57,7 +57,7 @@ TEST(objectToVertices, test_objectToVertices) shape.dimensions.z = 8.0; std::vector vertices; - image_projection_based_fusion::objectToVertices(pose, shape, vertices); + autoware::image_projection_based_fusion::objectToVertices(pose, shape, vertices); EXPECT_FALSE(vertices.empty()); EXPECT_NEAR(vertices.at(0).x(), 2.732050807568877293528, 1e-6); @@ -74,7 +74,7 @@ TEST(objectToVertices, test_objectToVertices) shape.type = 2; std::vector vertices; - image_projection_based_fusion::objectToVertices(pose, shape, vertices); + autoware::image_projection_based_fusion::objectToVertices(pose, shape, vertices); EXPECT_TRUE(vertices.empty()); } @@ -93,7 +93,8 @@ TEST(transformPoints, test_transformPoints) Eigen::Affine3d affine_transform = rotation * translation; std::vector output_points; - image_projection_based_fusion::transformPoints(input_points, affine_transform, output_points); + autoware::image_projection_based_fusion::transformPoints( + input_points, affine_transform, output_points); EXPECT_FALSE(output_points.empty()); EXPECT_NEAR(output_points.at(0).x(), 0.7071067811865475244008, 1e-6); @@ -118,7 +119,7 @@ TEST(is_inside, test_is_inside) inner.width = 299; const bool inside_flag = - image_projection_based_fusion::is_inside(outer, inner, outer_offset_scale); + autoware::image_projection_based_fusion::is_inside(outer, inner, outer_offset_scale); EXPECT_TRUE(inside_flag); } @@ -130,7 +131,7 @@ TEST(is_inside, test_is_inside) inner.y_offset = 39; const bool inside_flag = - image_projection_based_fusion::is_inside(outer, inner, outer_offset_scale); + autoware::image_projection_based_fusion::is_inside(outer, inner, outer_offset_scale); EXPECT_FALSE(inside_flag); } @@ -144,7 +145,7 @@ TEST(is_inside, test_is_inside) inner.width = 301; const bool inside_flag = - image_projection_based_fusion::is_inside(outer, inner, outer_offset_scale); + autoware::image_projection_based_fusion::is_inside(outer, inner, outer_offset_scale); EXPECT_FALSE(inside_flag); } @@ -162,7 +163,7 @@ TEST(sanitizeROI, test_sanitizeROI) int height = 400; // image height int width = 300; // image width - image_projection_based_fusion::sanitizeROI(roi, width, height); + autoware::image_projection_based_fusion::sanitizeROI(roi, width, height); EXPECT_EQ(roi.height, 200); EXPECT_EQ(roi.width, 100); @@ -176,7 +177,7 @@ TEST(sanitizeROI, test_sanitizeROI) int height = 100; int width = 50; - image_projection_based_fusion::sanitizeROI(roi, width, height); + autoware::image_projection_based_fusion::sanitizeROI(roi, width, height); EXPECT_EQ(roi.height, 0); EXPECT_EQ(roi.width, 0); @@ -192,7 +193,7 @@ TEST(sanitizeROI, test_sanitizeROI) int height = 100; int width = 50; - image_projection_based_fusion::sanitizeROI(roi, width, height); + autoware::image_projection_based_fusion::sanitizeROI(roi, width, height); EXPECT_EQ(roi.height, 80); EXPECT_EQ(roi.width, 40); diff --git a/perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp b/perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp index 1c69273667997..6c7a692f48576 100644 --- a/perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp +++ b/perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include @@ -30,27 +30,27 @@ sensor_msgs::msg::RegionOfInterest createRoi( TEST(isInsideBboxTest, Inside) { const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10); - bool result = image_projection_based_fusion::isInsideBbox(25.0, 25.0, roi, 1.0); + bool result = autoware::image_projection_based_fusion::isInsideBbox(25.0, 25.0, roi, 1.0); EXPECT_TRUE(result); } TEST(isInsideBboxTest, Border) { const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10); - bool result = image_projection_based_fusion::isInsideBbox(20.0, 30.0, roi, 1.0); + bool result = autoware::image_projection_based_fusion::isInsideBbox(20.0, 30.0, roi, 1.0); EXPECT_TRUE(result); } TEST(isInsideBboxTest, Outside) { const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10); - bool result = image_projection_based_fusion::isInsideBbox(15.0, 15.0, roi, 1.0); + bool result = autoware::image_projection_based_fusion::isInsideBbox(15.0, 15.0, roi, 1.0); EXPECT_FALSE(result); } TEST(isInsideBboxTest, Zero) { const sensor_msgs::msg::RegionOfInterest roi = createRoi(0, 0, 0, 0); - bool result = image_projection_based_fusion::isInsideBbox(0.0, 0.0, roi, 1.0); + bool result = autoware::image_projection_based_fusion::isInsideBbox(0.0, 0.0, roi, 1.0); EXPECT_TRUE(result); } diff --git a/perception/image_projection_based_fusion/test/test_utils.cpp b/perception/image_projection_based_fusion/test/test_utils.cpp index e578ce1987cc3..5fbd313d75dfe 100644 --- a/perception/image_projection_based_fusion/test/test_utils.cpp +++ b/perception/image_projection_based_fusion/test/test_utils.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include #include -#include #include @@ -65,7 +65,7 @@ TEST(UtilsTest, closest_cluster_empty_cluster_test_case1) double cluster_2d_tolerance = 0.5; int min_cluster_size = 3; sensor_msgs::msg::PointCloud2 output_cluster; - image_projection_based_fusion::closest_cluster( + autoware::image_projection_based_fusion::closest_cluster( pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster); EXPECT_EQ(output_cluster.data.size(), std::size_t(0)); } @@ -96,7 +96,7 @@ TEST(UtilsTest, closest_cluster_test_case2) double cluster_2d_tolerance = 0.5; int min_cluster_size = 3; sensor_msgs::msg::PointCloud2 output_cluster; - image_projection_based_fusion::closest_cluster( + autoware::image_projection_based_fusion::closest_cluster( pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster); EXPECT_EQ(output_cluster.data.size(), dummy_x.size() * pointcloud.point_step); } @@ -127,7 +127,7 @@ TEST(UtilsTest, closest_cluster_test_case3) double cluster_2d_tolerance = 0.5; int min_cluster_size = 3; sensor_msgs::msg::PointCloud2 output_cluster; - image_projection_based_fusion::closest_cluster( + autoware::image_projection_based_fusion::closest_cluster( pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster); EXPECT_EQ(output_cluster.data.size(), 3 * pointcloud.point_step); } @@ -158,7 +158,7 @@ TEST(UtilsTest, closest_cluster_test_case4) double cluster_2d_tolerance = 0.5; int min_cluster_size = 3; sensor_msgs::msg::PointCloud2 output_cluster; - image_projection_based_fusion::closest_cluster( + autoware::image_projection_based_fusion::closest_cluster( pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster); EXPECT_EQ(output_cluster.data.size(), 6 * pointcloud.point_step); } From db98b6bc2be1140992184e38455be67f5afc02ed Mon Sep 17 00:00:00 2001 From: Boyang <144167190+tby-udel@users.noreply.github.com> Date: Thu, 18 Jul 2024 01:33:57 -0400 Subject: [PATCH 223/306] refactor(multi_object_tracker): rework parameters (#7333) * Refractored the parameters, build the schema file, updated the readme file. Signed-off-by: Boyang * style(pre-commit): autofix --------- Signed-off-by: Boyang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/multi_object_tracker/README.md | 39 ++---- .../data_association_matrix.schema.json | 74 +++++++++++ .../schema/input_channels.schema.json | 80 ++++++++++++ .../multi_object_tracker_node.schema.json | 116 ++++++++++++++++++ .../schema/simulation_tracker.schema.json | 62 ++++++++++ 5 files changed, 339 insertions(+), 32 deletions(-) create mode 100644 perception/multi_object_tracker/schema/data_association_matrix.schema.json create mode 100644 perception/multi_object_tracker/schema/input_channels.schema.json create mode 100644 perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json create mode 100644 perception/multi_object_tracker/schema/simulation_tracker.schema.json diff --git a/perception/multi_object_tracker/README.md b/perception/multi_object_tracker/README.md index b5d965e1232ed..447c74d9b3450 100644 --- a/perception/multi_object_tracker/README.md +++ b/perception/multi_object_tracker/README.md @@ -65,41 +65,16 @@ Multiple inputs are pre-defined in the input channel parameters (described below ### Input Channel parameters -Available input channels are defined in [input_channels.param.yaml](config/input_channels.param.yaml). - -| Name | Type | Description | -| --------------------------------- | ------------------------------------------------ | ------------------------------------- | -| `` | | the name of channel | -| `.topic` | `autoware_perception_msgs::msg::DetectedObjects` | detected objects | -| `.can_spawn_new_tracker` | `bool` | a switch allow to spawn a new tracker | -| `.optional.name` | `std::string` | channel name for analysis | -| `.optional.short_name` | `std::string` | short name for visualization | +{{ json_to_markdown("perception/multi_object_tracker/schema/input_channels.schema.json") }} ### Core Parameters -Node parameters are defined in [multi_object_tracker_node.param.yaml](config/multi_object_tracker_node.param.yaml) and association parameters are defined in [data_association_matrix.param.yaml](config/data_association_matrix.param.yaml). - -#### Node parameters - -| Name | Type | Description | -| --------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------- | -| `***_tracker` | string | EKF tracker name for each class | -| `world_frame_id` | double | object kinematics definition frame | -| `enable_delay_compensation` | bool | if True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp | -| `publish_rate` | double | Timer frequency to output with delay compensation | -| `publish_processing_time` | bool | enable to publish debug message of process time information | -| `publish_tentative_objects` | bool | enable to publish tentative tracked objects, which have lower confidence | -| `publish_debug_markers` | bool | enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection | - -#### Association parameters - -| Name | Type | Description | -| ------------------- | ------ | ------------------------------------------- | -| `can_assign_matrix` | double | Assignment table for data association | -| `max_dist_matrix` | double | Maximum distance table for data association | -| `max_area_matrix` | double | Maximum area table for data association | -| `min_area_matrix` | double | Minimum area table for data association | -| `max_rad_matrix` | double | Maximum angle table for data association | +{{ json_to_markdown("perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json") }} +{{ json_to_markdown("perception/multi_object_tracker/schema/data_association_matrix.schema.json") }} + +#### Simulation parameters + +{{ json_to_markdown("perception/multi_object_tracker/schema/simulation_tracker.schema.json") }} ## Assumptions / Known limits diff --git a/perception/multi_object_tracker/schema/data_association_matrix.schema.json b/perception/multi_object_tracker/schema/data_association_matrix.schema.json new file mode 100644 index 0000000000000..daf9d9f957b7c --- /dev/null +++ b/perception/multi_object_tracker/schema/data_association_matrix.schema.json @@ -0,0 +1,74 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Data Association Matrix", + "type": "object", + "definitions": { + "data_association_matrix": { + "type": "object", + "properties": { + "can_assign_matrix": { + "type": "array", + "description": "Assignment table for data association.", + "items": { + "type": "integer" + } + }, + "max_dist_matrix": { + "type": "array", + "description": "Maximum distance table for data association.", + "items": { + "type": "number" + } + }, + "max_area_matrix": { + "type": "array", + "description": "Maximum area table for data association.", + "items": { + "type": "number" + } + }, + "min_area_matrix": { + "type": "array", + "description": "Minimum area table for data association.", + "items": { + "type": "number" + } + }, + "max_rad_matrix": { + "type": "array", + "description": "Maximum angle table for data association.", + "items": { + "type": "number" + } + }, + "min_iou_matrix": { + "type": "array", + "description": "A matrix that represents the minimum Intersection over Union (IoU) limit allowed for assignment.", + "items": { + "type": "number" + } + } + }, + "required": [ + "can_assign_matrix", + "max_dist_matrix", + "max_area_matrix", + "min_area_matrix", + "max_rad_matrix", + "min_iou_matrix" + ] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/data_association_matrix" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/multi_object_tracker/schema/input_channels.schema.json b/perception/multi_object_tracker/schema/input_channels.schema.json new file mode 100644 index 0000000000000..3c3da4d3f70a0 --- /dev/null +++ b/perception/multi_object_tracker/schema/input_channels.schema.json @@ -0,0 +1,80 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Input Channels", + "type": "object", + "definitions": { + "input_channel": { + "type": "object", + "properties": { + "topic": { + "type": "string", + "description": "The ROS topic name for the input channel." + }, + "can_spawn_new_tracker": { + "type": "boolean", + "description": "Indicates if the input channel can spawn new trackers." + }, + "optional": { + "type": "object", + "properties": { + "name": { + "type": "string", + "description": "The name of the input channel." + }, + "short_name": { + "type": "string", + "description": "The short name of the input channel." + } + } + } + }, + "required": ["topic", "can_spawn_new_tracker"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "type": "object", + "properties": { + "input_channels": { + "type": "object", + "properties": { + "detected_objects": { "$ref": "#/definitions/input_channel" }, + "lidar_clustering": { "$ref": "#/definitions/input_channel" }, + "lidar_centerpoint": { "$ref": "#/definitions/input_channel" }, + "lidar_centerpoint_validated": { "$ref": "#/definitions/input_channel" }, + "lidar_apollo": { "$ref": "#/definitions/input_channel" }, + "lidar_apollo_validated": { "$ref": "#/definitions/input_channel" }, + "lidar_pointpainitng": { "$ref": "#/definitions/input_channel" }, + "lidar_pointpainting_validated": { "$ref": "#/definitions/input_channel" }, + "camera_lidar_fusion": { "$ref": "#/definitions/input_channel" }, + "detection_by_tracker": { "$ref": "#/definitions/input_channel" }, + "radar": { "$ref": "#/definitions/input_channel" }, + "radar_far": { "$ref": "#/definitions/input_channel" } + }, + "required": [ + "detected_objects", + "lidar_clustering", + "lidar_centerpoint", + "lidar_centerpoint_validated", + "lidar_apollo", + "lidar_apollo_validated", + "lidar_pointpainitng", + "lidar_pointpainting_validated", + "camera_lidar_fusion", + "detection_by_tracker", + "radar", + "radar_far" + ] + } + }, + "required": ["input_channels"] + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json b/perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json new file mode 100644 index 0000000000000..a40eb12d99b38 --- /dev/null +++ b/perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json @@ -0,0 +1,116 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Multi Object Tracker Node", + "type": "object", + "definitions": { + "multi_object_tracker_node": { + "type": "object", + "properties": { + "car_tracker": { + "type": "string", + "description": "Tracker model for car class.", + "default": "multi_vehicle_tracker" + }, + "truck_tracker": { + "type": "string", + "description": "Tracker model for truck class.", + "default": "multi_vehicle_tracker" + }, + "bus_tracker": { + "type": "string", + "description": "Tracker model for bus class.", + "default": "multi_vehicle_tracker" + }, + "trailer_tracker": { + "type": "string", + "description": "Tracker model for trailer class.", + "default": "multi_vehicle_tracker" + }, + "pedestrian_tracker": { + "type": "string", + "description": "Tracker model for pedestrian class.", + "default": "pedestrian_and_bicycle_tracker" + }, + "bicycle_tracker": { + "type": "string", + "description": "Tracker model for bicycle class.", + "default": "pedestrian_and_bicycle_tracker" + }, + "motorcycle_tracker": { + "type": "string", + "description": "Tracker model for motorcycle class.", + "default": "pedestrian_and_bicycle_tracker" + }, + "publish_rate": { + "type": "number", + "description": "Timer frequency to output with delay compensation.", + "default": 10.0 + }, + "world_frame_id": { + "type": "string", + "description": "Object kinematics definition frame.", + "default": "map" + }, + "enable_delay_compensation": { + "type": "boolean", + "description": "If True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp.", + "default": false + }, + "publish_processing_time": { + "type": "boolean", + "description": "Enable to publish debug message of process time information.", + "default": false + }, + "publish_tentative_objects": { + "type": "boolean", + "description": "Enable to publish tentative tracked objects, which have lower confidence.", + "default": false + }, + "publish_debug_markers": { + "type": "boolean", + "description": "Enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection.", + "default": false + }, + "diagnostics_warn_delay": { + "type": "number", + "description": "Delay threshold for warning diagnostics in seconds.", + "default": 0.5 + }, + "diagnostics_error_delay": { + "type": "number", + "description": "Delay threshold for error diagnostics in seconds.", + "default": 1.0 + } + }, + "required": [ + "car_tracker", + "truck_tracker", + "bus_tracker", + "trailer_tracker", + "pedestrian_tracker", + "bicycle_tracker", + "motorcycle_tracker", + "publish_rate", + "world_frame_id", + "enable_delay_compensation", + "publish_processing_time", + "publish_tentative_objects", + "publish_debug_markers", + "diagnostics_warn_delay", + "diagnostics_error_delay" + ] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/multi_object_tracker_node" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/multi_object_tracker/schema/simulation_tracker.schema.json b/perception/multi_object_tracker/schema/simulation_tracker.schema.json new file mode 100644 index 0000000000000..88a4cf41bad08 --- /dev/null +++ b/perception/multi_object_tracker/schema/simulation_tracker.schema.json @@ -0,0 +1,62 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Simulation Tracker Node", + "type": "object", + "definitions": { + "simulation_tracker_node": { + "type": "object", + "properties": { + "car_tracker": { + "type": "string", + "description": "Tracker model for car class.", + "default": "pass_through_tracker" + }, + "truck_tracker": { + "type": "string", + "description": "Tracker model for truck class.", + "default": "pass_through_tracker" + }, + "bus_tracker": { + "type": "string", + "description": "Tracker model for bus class.", + "default": "pass_through_tracker" + }, + "pedestrian_tracker": { + "type": "string", + "description": "Tracker model for pedestrian class.", + "default": "pass_through_tracker" + }, + "bicycle_tracker": { + "type": "string", + "description": "Tracker model for bicycle class.", + "default": "pass_through_tracker" + }, + "motorcycle_tracker": { + "type": "string", + "description": "Tracker model for motorcycle class.", + "default": "pass_through_tracker" + } + }, + "required": [ + "car_tracker", + "truck_tracker", + "bus_tracker", + "pedestrian_tracker", + "bicycle_tracker", + "motorcycle_tracker" + ] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/simulation_tracker_node" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} From 940d7545a480de97a03884f5c602d420e1c980d6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 18 Jul 2024 15:49:25 +0900 Subject: [PATCH 224/306] fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path (#8066) Signed-off-by: satoshi-ota --- .../src/shift_line_generator.cpp | 34 +++++++++++++++---- 1 file changed, 27 insertions(+), 7 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index c3a67eb074d73..5e58466fa4229 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -239,10 +239,18 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( const auto is_forward_object = [](const auto & object) { return object.longitudinal > 0.0; }; + const auto is_on_path = [this](const auto & object) { + const auto [overhang, point] = object.overhang_points.front(); + return std::abs(overhang) < 0.5 * data_->parameters.vehicle_width; + }; + const auto is_valid_shift_line = [](const auto & s) { return s.start_longitudinal > 0.0 && s.start_longitudinal < s.end_longitudinal; }; + ObjectDataArray unavoidable_objects; + + // target objects are sorted by longitudinal distance. AvoidOutlines outlines; for (auto & o : data.target_objects) { if (!o.avoid_margin.has_value()) { @@ -253,22 +261,22 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( } else { o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE; } - if (o.avoid_required && is_forward_object(o)) { + if (o.avoid_required && is_forward_object(o) && is_on_path(o)) { break; } else { + unavoidable_objects.push_back(o); continue; } } - const auto is_object_on_right = utils::static_obstacle_avoidance::isOnRight(o); const auto desire_shift_length = - helper_->getShiftLength(o, is_object_on_right, o.avoid_margin.value()); - if (utils::static_obstacle_avoidance::isSameDirectionShift( - is_object_on_right, desire_shift_length)) { + helper_->getShiftLength(o, isOnRight(o), o.avoid_margin.value()); + if (utils::static_obstacle_avoidance::isSameDirectionShift(isOnRight(o), desire_shift_length)) { o.info = ObjectInfo::SAME_DIRECTION_SHIFT; - if (o.avoid_required && is_forward_object(o)) { + if (o.avoid_required && is_forward_object(o) && is_on_path(o)) { break; } else { + unavoidable_objects.push_back(o); continue; } } @@ -276,13 +284,25 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( // calculate feasible shift length based on behavior policy const auto feasible_shift_profile = get_shift_profile(o, desire_shift_length); if (!feasible_shift_profile.has_value()) { - if (o.avoid_required && is_forward_object(o)) { + if (o.avoid_required && is_forward_object(o) && is_on_path(o)) { break; } else { + unavoidable_objects.push_back(o); continue; } } + // If there is an object that cannot be avoided, this module only avoids object on the same side + // as unavoidable object. + if (!unavoidable_objects.empty()) { + if (isOnRight(unavoidable_objects.front()) && !isOnRight(o)) { + break; + } + if (!isOnRight(unavoidable_objects.front()) && isOnRight(o)) { + break; + } + } + // use absolute dist for return-to-center, relative dist from current for avoiding. const auto feasible_return_distance = helper_->getMaxAvoidanceDistance(feasible_shift_profile.value().first); From 698acc3e9cf3c8f902c038b7393584fa965a6971 Mon Sep 17 00:00:00 2001 From: Boyang <144167190+tby-udel@users.noreply.github.com> Date: Thu, 18 Jul 2024 08:46:12 -0400 Subject: [PATCH 225/306] refactor(probabilistic_occupancy_grid_map): rework parameters (#7339) * refactor(probabilistic_occupancy_grid_map): rework parameters Signed-off-by: Boyang * style(pre-commit): autofix * Solved the CI's complainment Signed-off-by: Boyang --------- Signed-off-by: Boyang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../README.md | 60 +---- ...rid_map_param.yaml => grid_map.param.yaml} | 0 .../binary_bayes_filter_updater.schema.json | 61 ++++++ .../schema/grid_map.schema.json | 76 +++++++ ...rscan_based_occupancy_grid_map.schema.json | 94 ++++++++ ...cloud_based_occupancy_grid_map.schema.json | 207 ++++++++++++++++++ ...cloud_based_occupancy_grid_map.schema.json | 150 +++++++++++++ ...chronized_grid_map_fusion_node.schema.json | 105 +++++++++ 8 files changed, 701 insertions(+), 52 deletions(-) rename perception/probabilistic_occupancy_grid_map/config/{grid_map_param.yaml => grid_map.param.yaml} (100%) create mode 100644 perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json create mode 100644 perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json create mode 100644 perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json create mode 100644 perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json create mode 100644 perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json create mode 100644 perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md index 97d66bf9f648c..4200836181276 100644 --- a/perception/probabilistic_occupancy_grid_map/README.md +++ b/perception/probabilistic_occupancy_grid_map/README.md @@ -19,58 +19,14 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean ![image_for_frame_parameter_visualization](./image/gridmap_frame_settings.drawio.svg) -### Each config parameters - -Config parameters are managed in `config/*.yaml` and here shows its outline. - -- Pointcloud based occupancy grid map - -| Ros param name | Default value | -| -------------------------------------------- | ------------- | -| map_frame | "map" | -| base_link_frame | "base_link" | -| scan_origin_frame | "base_link" | -| gridmap_origin_frame | "base_link" | -| use_height_filter | true | -| enable_single_frame_mode | false | -| filter_obstacle_pointcloud_by_raw_pointcloud | false | -| map_length | 150.0 [m] | -| map_resolution | 0.5 [m] | -| use_projection | false | -| projection_dz_threshold | 0.01 | -| obstacle_separation_threshold | 1.0 | -| input_obstacle_pointcloud | true | -| input_obstacle_and_raw_pointcloud | true | - -- Laserscan based occupancy grid map - -| Ros param name | Default value | -| ------------------------ | ------------- | -| map_length | 150 [m] | -| map_width | 150 [m] | -| map_resolution | 0.5 [m] | -| use_height_filter | true | -| enable_single_frame_mode | false | -| map_frame | "map" | -| base_link_frame | "base_link" | -| scan_origin_frame | "base_link" | -| gridmap_origin_frame | "base_link" | - -## Other parameters - -Additional argument is shown below: - -| Name | Default | Description | -| ----------------------------------- | ------------------------------ | --------------------------------------------------------------------------------------------- | -| `use_multithread` | `false` | whether to use multithread | -| `use_intra_process` | `false` | | -| `map_origin` | `` | parameter to override `map_origin_frame` which means grid map origin | -| `scan_origin` | `` | parameter to override `scan_origin_frame` which means scanning center | -| `output` | `occupancy_grid` | output name | -| `use_pointcloud_container` | `false` | | -| `container_name` | `occupancy_grid_map_container` | | -| `input_obstacle_pointcloud` | `false` | only for laserscan based method. If true, the node subscribe obstacle pointcloud | -| `input_obstacle_and_raw_pointcloud` | `true` | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud | +### Parameters + +{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }} +{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }} +{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }} +{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }} +{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }} +{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }} ### Downsample input pointcloud(Optional) diff --git a/perception/probabilistic_occupancy_grid_map/config/grid_map_param.yaml b/perception/probabilistic_occupancy_grid_map/config/grid_map.param.yaml similarity index 100% rename from perception/probabilistic_occupancy_grid_map/config/grid_map_param.yaml rename to perception/probabilistic_occupancy_grid_map/config/grid_map.param.yaml diff --git a/perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json b/perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json new file mode 100644 index 0000000000000..d087095ce980b --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json @@ -0,0 +1,61 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Binary Bayes Filter Updater", + "type": "object", + "definitions": { + "binary_bayes_filter_updater": { + "type": "object", + "properties": { + "probability_matrix": { + "type": "object", + "properties": { + "occupied_to_occupied": { + "type": "number", + "description": "Probability of transitioning from occupied to occupied state.", + "default": 0.95 + }, + "occupied_to_free": { + "type": "number", + "description": "Probability of transitioning from occupied to free state.", + "default": 0.05 + }, + "free_to_occupied": { + "type": "number", + "description": "Probability of transitioning from free to occupied state.", + "default": 0.2 + }, + "free_to_free": { + "type": "number", + "description": "Probability of transitioning from free to free state.", + "default": 0.8 + } + }, + "required": [ + "occupied_to_occupied", + "occupied_to_free", + "free_to_occupied", + "free_to_free" + ] + }, + "v_ratio": { + "type": "number", + "description": "Ratio of the variance used in the filter.", + "default": 0.1 + } + }, + "required": ["probability_matrix", "v_ratio"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/binary_bayes_filter_updater" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json b/perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json new file mode 100644 index 0000000000000..e874431ec2601 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json @@ -0,0 +1,76 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Grid Map", + "type": "object", + "definitions": { + "visualization_params": { + "type": "object", + "properties": { + "type": { + "type": "string", + "description": "The type of grid map visualization.", + "default": "occupancy_grid" + }, + "params": { + "type": "object", + "properties": { + "layer": { + "type": "string", + "description": "The layer of the grid map visualization.", + "default": "filled_free_to_farthest" + }, + "data_min": { + "type": "number", + "description": "The minimum data value for the visualization.", + "default": 0.0 + }, + "data_max": { + "type": "number", + "description": "The maximum data value for the visualization.", + "default": 100.0 + } + }, + "required": ["layer", "data_min", "data_max"] + } + }, + "required": ["type", "params"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "type": "object", + "properties": { + "grid_map_topic": { + "type": "string", + "description": "The topic name for the grid map.", + "default": "/perception/occupancy_grid_map/occupancy_grid_map_node/debug/grid_map" + }, + "grid_map_visualizations": { + "type": "array", + "description": "List of grid map visualizations.", + "items": { + "type": "string" + }, + "default": ["grid_1st_step", "grid_2nd_step", "grid_3rd_step"] + }, + "grid_1st_step": { "$ref": "#/definitions/visualization_params" }, + "grid_2nd_step": { "$ref": "#/definitions/visualization_params" }, + "grid_3rd_step": { "$ref": "#/definitions/visualization_params" } + }, + "required": [ + "grid_map_topic", + "grid_map_visualizations", + "grid_1st_step", + "grid_2nd_step", + "grid_3rd_step" + ] + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json b/perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json new file mode 100644 index 0000000000000..2b6befd1ae1fd --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json @@ -0,0 +1,94 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Laserscan Based Occupancy Grid Map", + "type": "object", + "definitions": { + "height_filter_params": { + "type": "object", + "properties": { + "use_height_filter": { + "type": "boolean", + "description": "Flag to use height filter.", + "default": true + }, + "min_height": { + "type": "number", + "description": "Minimum height for the height filter.", + "default": -1.0 + }, + "max_height": { + "type": "number", + "description": "Maximum height for the height filter.", + "default": 2.0 + } + }, + "required": ["use_height_filter", "min_height", "max_height"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "type": "object", + "properties": { + "map_frame": { + "type": "string", + "description": "The frame ID of the map.", + "default": "map" + }, + "base_link_frame": { + "type": "string", + "description": "The frame ID of the base link.", + "default": "base_link" + }, + "gridmap_origin_frame": { + "type": "string", + "description": "The frame ID of the grid map origin.", + "default": "base_link" + }, + "scan_origin_frame": { + "type": "string", + "description": "The frame ID of the scan origin.", + "default": "base_link" + }, + "height_filter": { "$ref": "#/definitions/height_filter_params" }, + "enable_single_frame_mode": { + "type": "boolean", + "description": "Flag to enable single frame mode.", + "default": false + }, + "map_length": { + "type": "number", + "description": "The length of the map.", + "default": 150.0 + }, + "map_width": { + "type": "number", + "description": "The width of the map.", + "default": 150.0 + }, + "map_resolution": { + "type": "number", + "description": "The resolution of the map.", + "default": 0.5 + } + }, + "required": [ + "map_frame", + "base_link_frame", + "gridmap_origin_frame", + "scan_origin_frame", + "height_filter", + "enable_single_frame_mode", + "map_length", + "map_width", + "map_resolution" + ] + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json b/perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json new file mode 100644 index 0000000000000..e522e486e88cc --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json @@ -0,0 +1,207 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Multi Lidar Pointcloud Based Occupancy Grid Map", + "type": "object", + "definitions": { + "height_filter_params": { + "type": "object", + "properties": { + "use_height_filter": { + "type": "boolean", + "description": "Flag to use height filter.", + "default": true + }, + "min_height": { + "type": "number", + "description": "Minimum height for the height filter.", + "default": -1.0 + }, + "max_height": { + "type": "number", + "description": "Maximum height for the height filter.", + "default": 2.0 + } + }, + "required": ["use_height_filter", "min_height", "max_height"] + }, + "occupancy_grid_map_fixed_blind_spot_params": { + "type": "object", + "properties": { + "distance_margin": { + "type": "number", + "description": "Distance margin for the fixed blind spot.", + "default": 1.0 + } + }, + "required": ["distance_margin"] + }, + "occupancy_grid_map_projective_blind_spot_params": { + "type": "object", + "properties": { + "projection_dz_threshold": { + "type": "number", + "description": "Projection dz threshold to avoid null division.", + "default": 0.01 + }, + "obstacle_separation_threshold": { + "type": "number", + "description": "Threshold to fill the interval between obstacles with unknown.", + "default": 1.0 + }, + "pub_debug_grid": { + "type": "boolean", + "description": "Flag to publish the debug grid.", + "default": false + } + }, + "required": ["projection_dz_threshold", "obstacle_separation_threshold", "pub_debug_grid"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "type": "object", + "properties": { + "shared_config": { + "type": "object", + "properties": { + "map_frame": { + "type": "string", + "description": "The frame ID of the map.", + "default": "map" + }, + "base_link_frame": { + "type": "string", + "description": "The frame ID of the base link.", + "default": "base_link" + }, + "gridmap_origin_frame": { + "type": "string", + "description": "The frame ID of the grid map origin.", + "default": "base_link" + }, + "map_resolution": { + "type": "number", + "description": "The resolution of the map.", + "default": 0.5 + }, + "map_length_x": { + "type": "number", + "description": "The length of the map in the x direction.", + "default": 150.0 + }, + "map_length_y": { + "type": "number", + "description": "The length of the map in the y direction.", + "default": 150.0 + } + }, + "required": [ + "map_frame", + "base_link_frame", + "gridmap_origin_frame", + "map_resolution", + "map_length_x", + "map_length_y" + ] + }, + "downsample_input_pointcloud": { + "type": "boolean", + "description": "Flag to downsample the input pointcloud.", + "default": true + }, + "downsample_voxel_size": { + "type": "number", + "description": "The voxel size for downsampling.", + "default": 0.25 + }, + "ogm_creation_config": { + "type": "object", + "properties": { + "height_filter": { "$ref": "#/definitions/height_filter_params" }, + "enable_single_frame_mode": { + "type": "boolean", + "description": "Flag to enable single frame mode.", + "default": true + }, + "filter_obstacle_pointcloud_by_raw_pointcloud": { + "type": "boolean", + "description": "Flag to filter obstacle pointcloud by raw pointcloud.", + "default": false + }, + "grid_map_type": { + "type": "string", + "description": "Type of the grid map.", + "default": "OccupancyGridMapFixedBlindSpot" + }, + "OccupancyGridMapFixedBlindSpot": { + "$ref": "#/definitions/occupancy_grid_map_fixed_blind_spot_params" + }, + "OccupancyGridMapProjectiveBlindSpot": { + "$ref": "#/definitions/occupancy_grid_map_projective_blind_spot_params" + } + }, + "required": [ + "height_filter", + "enable_single_frame_mode", + "filter_obstacle_pointcloud_by_raw_pointcloud", + "grid_map_type" + ] + }, + "fusion_config": { + "type": "object", + "properties": { + "raw_pointcloud_topics": { + "type": "array", + "description": "List of raw pointcloud topics.", + "items": { + "type": "string" + } + }, + "fusion_input_ogm_topics": { + "type": "array", + "description": "List of fusion input occupancy grid map topics.", + "items": { + "type": "string" + } + }, + "input_ogm_reliabilities": { + "type": "array", + "description": "Reliability of each sensor for fusion.", + "items": { + "type": "number", + "minimum": 0.0, + "maximum": 1.0 + } + }, + "fusion_method": { + "type": "string", + "description": "Method for occupancy grid map fusion.", + "enum": ["overwrite", "log-odds", "dempster-shafer"], + "default": "overwrite" + } + }, + "required": [ + "raw_pointcloud_topics", + "fusion_input_ogm_topics", + "input_ogm_reliabilities", + "fusion_method" + ] + } + }, + "required": [ + "shared_config", + "downsample_input_pointcloud", + "downsample_voxel_size", + "ogm_creation_config", + "fusion_config" + ] + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json b/perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json new file mode 100644 index 0000000000000..e79c094820ec4 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json @@ -0,0 +1,150 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Pointcloud Based Occupancy Grid Map", + "type": "object", + "definitions": { + "height_filter_params": { + "type": "object", + "properties": { + "use_height_filter": { + "type": "boolean", + "description": "Flag to use height filter.", + "default": true + }, + "min_height": { + "type": "number", + "description": "Minimum height for the height filter.", + "default": -1.0 + }, + "max_height": { + "type": "number", + "description": "Maximum height for the height filter.", + "default": 2.0 + } + }, + "required": ["use_height_filter", "min_height", "max_height"] + }, + "occupancy_grid_map_fixed_blind_spot_params": { + "type": "object", + "properties": { + "distance_margin": { + "type": "number", + "description": "Distance margin for the fixed blind spot.", + "default": 1.0 + } + }, + "required": ["distance_margin"] + }, + "occupancy_grid_map_projective_blind_spot_params": { + "type": "object", + "properties": { + "projection_dz_threshold": { + "type": "number", + "description": "Projection dz threshold to avoid null division.", + "default": 0.01 + }, + "obstacle_separation_threshold": { + "type": "number", + "description": "Threshold to fill the interval between obstacles with unknown.", + "default": 1.0 + }, + "pub_debug_grid": { + "type": "boolean", + "description": "Flag to publish the debug grid.", + "default": false + } + }, + "required": ["projection_dz_threshold", "obstacle_separation_threshold", "pub_debug_grid"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "type": "object", + "properties": { + "map_length": { + "type": "number", + "description": "The length of the map.", + "default": 150.0 + }, + "map_resolution": { + "type": "number", + "description": "The resolution of the map.", + "default": 0.5 + }, + "height_filter": { "$ref": "#/definitions/height_filter_params" }, + "downsample_input_pointcloud": { + "type": "boolean", + "description": "Flag to downsample the input pointcloud.", + "default": true + }, + "downsample_voxel_size": { + "type": "number", + "description": "The voxel size for downsampling.", + "default": 0.25 + }, + "enable_single_frame_mode": { + "type": "boolean", + "description": "Flag to enable single frame mode.", + "default": false + }, + "filter_obstacle_pointcloud_by_raw_pointcloud": { + "type": "boolean", + "description": "Flag to filter obstacle pointcloud by raw pointcloud.", + "default": false + }, + "map_frame": { + "type": "string", + "description": "The frame ID of the map.", + "default": "map" + }, + "base_link_frame": { + "type": "string", + "description": "The frame ID of the base link.", + "default": "base_link" + }, + "gridmap_origin_frame": { + "type": "string", + "description": "The frame ID of the grid map origin.", + "default": "base_link" + }, + "scan_origin_frame": { + "type": "string", + "description": "The frame ID of the scan origin.", + "default": "base_link" + }, + "grid_map_type": { + "type": "string", + "description": "Type of the grid map.", + "default": "OccupancyGridMapFixedBlindSpot" + }, + "OccupancyGridMapFixedBlindSpot": { + "$ref": "#/definitions/occupancy_grid_map_fixed_blind_spot_params" + }, + "OccupancyGridMapProjectiveBlindSpot": { + "$ref": "#/definitions/occupancy_grid_map_projective_blind_spot_params" + } + }, + "required": [ + "map_length", + "map_resolution", + "height_filter", + "downsample_input_pointcloud", + "downsample_voxel_size", + "enable_single_frame_mode", + "filter_obstacle_pointcloud_by_raw_pointcloud", + "map_frame", + "base_link_frame", + "gridmap_origin_frame", + "scan_origin_frame", + "grid_map_type" + ] + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json b/perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json new file mode 100644 index 0000000000000..14f4305f55de8 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json @@ -0,0 +1,105 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Synchronized Grid Map Fusion Node", + "type": "object", + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "type": "object", + "properties": { + "fusion_input_ogm_topics": { + "type": "array", + "description": "List of fusion input occupancy grid map topics.", + "items": { + "type": "string" + }, + "default": ["topic1", "topic2"] + }, + "input_ogm_reliabilities": { + "type": "array", + "description": "Reliability of each sensor for fusion.", + "items": { + "type": "number", + "minimum": 0.0, + "maximum": 1.0 + }, + "default": [0.8, 0.2] + }, + "fusion_method": { + "type": "string", + "description": "Method for occupancy grid map fusion.", + "enum": ["overwrite", "log-odds", "dempster-shafer"], + "default": "overwrite" + }, + "match_threshold_sec": { + "type": "number", + "description": "Time threshold for matching in seconds.", + "default": 0.01 + }, + "timeout_sec": { + "type": "number", + "description": "Timeout for synchronization in seconds.", + "default": 0.1 + }, + "input_offset_sec": { + "type": "array", + "description": "Offset for each input in seconds.", + "items": { + "type": "number" + }, + "default": [0.0, 0.0] + }, + "map_frame_": { + "type": "string", + "description": "The frame ID of the map.", + "default": "map" + }, + "base_link_frame_": { + "type": "string", + "description": "The frame ID of the base link.", + "default": "base_link" + }, + "grid_map_origin_frame_": { + "type": "string", + "description": "The frame ID of the grid map origin.", + "default": "base_link" + }, + "fusion_map_length_x": { + "type": "number", + "description": "The length of the fusion map in the x direction.", + "default": 100.0 + }, + "fusion_map_length_y": { + "type": "number", + "description": "The length of the fusion map in the y direction.", + "default": 100.0 + }, + "fusion_map_resolution": { + "type": "number", + "description": "The resolution of the fusion map.", + "default": 0.5 + } + }, + "required": [ + "fusion_input_ogm_topics", + "input_ogm_reliabilities", + "fusion_method", + "match_threshold_sec", + "timeout_sec", + "input_offset_sec", + "map_frame_", + "base_link_frame_", + "grid_map_origin_frame_", + "fusion_map_length_x", + "fusion_map_length_y", + "fusion_map_resolution" + ] + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} From f62c01b48d5e9d5c3f3a4f06fd776e7b7441c946 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Fri, 19 Jul 2024 03:00:07 +0200 Subject: [PATCH 226/306] refactor(autoware_object_merger): move headers to src and rename package (#7804) Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 2 +- .../detection/merger/camera_lidar_merger.launch.xml | 8 ++++---- .../merger/camera_lidar_radar_merger.launch.xml | 10 +++++----- .../detection/merger/lidar_merger.launch.xml | 8 ++++---- launch/tier4_perception_launch/package.xml | 2 +- .../CMakeLists.txt | 2 +- .../README.md | 0 .../config/data_association_matrix.param.yaml | 0 .../config/object_association_merger.param.yaml | 0 .../config/overlapped_judge.param.yaml | 0 .../object_merger}/association/data_association.hpp | 8 ++++---- .../object_merger}/association/solver/gnn_solver.hpp | 12 ++++++------ .../association/solver/gnn_solver_interface.hpp | 6 +++--- .../object_merger}/association/solver/mu_ssp.hpp | 8 ++++---- .../object_merger}/association/solver/ssp.hpp | 8 ++++---- .../object_association_merger_node.hpp | 8 ++++---- .../launch/object_association_merger.launch.xml | 8 ++++---- .../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 ++-- .../solver/mu_successive_shortest_path_wrapper.cpp | 2 +- .../association/solver/successive_shortest_path.cpp | 2 +- .../src/object_association_merger_node.cpp | 2 +- 25 files changed, 52 insertions(+), 52 deletions(-) rename perception/{object_merger => autoware_object_merger}/CMakeLists.txt (96%) 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/include/autoware_object_merger => autoware_object_merger/include/autoware/object_merger}/association/data_association.hpp (86%) rename perception/{object_merger/include/autoware_object_merger => autoware_object_merger/include/autoware/object_merger}/association/solver/gnn_solver.hpp (60%) rename perception/{object_merger/include/autoware_object_merger => autoware_object_merger/include/autoware/object_merger}/association/solver/gnn_solver_interface.hpp (81%) rename perception/{object_merger/include/autoware_object_merger => autoware_object_merger/include/autoware/object_merger}/association/solver/mu_ssp.hpp (79%) rename perception/{object_merger/include/autoware_object_merger => autoware_object_merger/include/autoware/object_merger}/association/solver/ssp.hpp (80%) rename perception/{object_merger/src => autoware_object_merger/include/autoware/object_merger}/object_association_merger_node.hpp (92%) rename perception/{object_merger => autoware_object_merger}/launch/object_association_merger.launch.xml (74%) 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 => autoware_object_merger}/src/association/solver/mu_successive_shortest_path_wrapper.cpp (95%) 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 (99%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 47ddd77bdf68e..0233fee04513c 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/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml index d4a9e40f29d97..14e256cc2fd06 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml @@ -1,8 +1,8 @@ - - + + @@ -119,7 +119,7 @@ - + @@ -131,7 +131,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml index 5bd2c36955b55..c62ffb06ecd42 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml @@ -1,8 +1,8 @@ - - + + @@ -142,7 +142,7 @@ - + @@ -154,7 +154,7 @@ - + @@ -177,7 +177,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml index c82de41a28b50..b9bb765cb1b16 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml @@ -1,8 +1,8 @@ - - + + @@ -57,7 +57,7 @@ - + @@ -69,7 +69,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index db2968f735a37..a240d3e0576e3 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -17,6 +17,7 @@ autoware_crosswalk_traffic_light_estimator autoware_detection_by_tracker autoware_map_based_prediction + autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_radar_crossing_objects_noise_filter @@ -34,7 +35,6 @@ 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 96% rename from perception/object_merger/CMakeLists.txt rename to perception/autoware_object_merger/CMakeLists.txt index 2d9b490945caf..3a2e85c4060ea 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() 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/include/autoware_object_merger/association/data_association.hpp b/perception/autoware_object_merger/include/autoware/object_merger/association/data_association.hpp similarity index 86% rename from perception/object_merger/include/autoware_object_merger/association/data_association.hpp rename to perception/autoware_object_merger/include/autoware/object_merger/association/data_association.hpp index 8433e8f7af537..16e154c83842b 100644 --- a/perception/object_merger/include/autoware_object_merger/association/data_association.hpp +++ b/perception/autoware_object_merger/include/autoware/object_merger/association/data_association.hpp @@ -16,12 +16,12 @@ // Author: v1.0 Yukihiro Saito // -#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ -#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ +#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ +#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ #define EIGEN_MPL2_ONLY -#include "autoware_object_merger/association/solver/gnn_solver.hpp" +#include "autoware/object_merger/association/solver/gnn_solver.hpp" #include #include @@ -62,4 +62,4 @@ class DataAssociation } // namespace autoware::object_merger -#endif // AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ +#endif // AUTOWARE__OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver.hpp similarity index 60% rename from perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp rename to perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver.hpp index 6421dd6108a4a..14078451612ec 100644 --- a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp +++ b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ -#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ +#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 "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" -#endif // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_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/include/autoware/object_merger/association/solver/gnn_solver_interface.hpp similarity index 81% rename from perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp rename to perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver_interface.hpp index 6a0702f056ba7..75f45b6eb5f3b 100644 --- a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp +++ b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ -#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ +#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ +#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ #include #include @@ -32,4 +32,4 @@ class GnnSolverInterface }; } // namespace autoware::object_merger::gnn_solver -#endif // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ +#endif // AUTOWARE__OBJECT_MERGER__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/include/autoware/object_merger/association/solver/mu_ssp.hpp similarity index 79% rename from perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp rename to perception/autoware_object_merger/include/autoware/object_merger/association/solver/mu_ssp.hpp index 364e9306112a7..4d8075874cbca 100644 --- a/perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp +++ b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/mu_ssp.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ -#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ +#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 "autoware/object_merger/association/solver/gnn_solver_interface.hpp" #include #include @@ -34,4 +34,4 @@ class MuSSP : public GnnSolverInterface }; } // namespace autoware::object_merger::gnn_solver -#endif // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ +#endif // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/ssp.hpp similarity index 80% rename from perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp rename to perception/autoware_object_merger/include/autoware/object_merger/association/solver/ssp.hpp index 41bf390829ade..94563981de011 100644 --- a/perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp +++ b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/ssp.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ -#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ +#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 "autoware/object_merger/association/solver/gnn_solver_interface.hpp" #include #include @@ -34,4 +34,4 @@ class SSP : public GnnSolverInterface }; } // namespace autoware::object_merger::gnn_solver -#endif // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ +#endif // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ diff --git a/perception/object_merger/src/object_association_merger_node.hpp b/perception/autoware_object_merger/include/autoware/object_merger/object_association_merger_node.hpp similarity index 92% rename from perception/object_merger/src/object_association_merger_node.hpp rename to perception/autoware_object_merger/include/autoware/object_merger/object_association_merger_node.hpp index d11f58bc5a857..81fa34803d6cc 100644 --- a/perception/object_merger/src/object_association_merger_node.hpp +++ b/perception/autoware_object_merger/include/autoware/object_merger/object_association_merger_node.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_ASSOCIATION_MERGER_NODE_HPP_ -#define OBJECT_ASSOCIATION_MERGER_NODE_HPP_ +#ifndef AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_ +#define AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_ +#include "autoware/object_merger/association/data_association.hpp" #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 @@ -91,4 +91,4 @@ class ObjectAssociationMergerNode : public rclcpp::Node }; } // namespace autoware::object_merger -#endif // OBJECT_ASSOCIATION_MERGER_NODE_HPP_ +#endif // AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_ 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 74% 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..f3c0e8bd5a829 100644 --- a/perception/object_merger/launch/object_association_merger.launch.xml +++ b/perception/autoware_object_merger/launch/object_association_merger.launch.xml @@ -4,11 +4,11 @@ - - - + + + - + 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..8b40178b592f8 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 "autoware/object_merger/association/data_association.hpp" +#include "autoware/object_merger/association/solver/gnn_solver.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "autoware_object_merger/association/solver/gnn_solver.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #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..f852cfb62d419 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 "autoware/object_merger/association/solver/mu_ssp.hpp" #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..b97db07d05469 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 "autoware/object_merger/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 99% rename from perception/object_merger/src/object_association_merger_node.cpp rename to perception/autoware_object_merger/src/object_association_merger_node.cpp index 321f1a8da8d9e..a1021df1d555f 100644 --- a/perception/object_merger/src/object_association_merger_node.cpp +++ b/perception/autoware_object_merger/src/object_association_merger_node.cpp @@ -14,7 +14,7 @@ #define EIGEN_MPL2_ONLY -#include "object_association_merger_node.hpp" +#include "autoware/object_merger/object_association_merger_node.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" From d2f973384d1cf8019f511c44df7a5c11383eeac6 Mon Sep 17 00:00:00 2001 From: Boyang <144167190+tby-udel@users.noreply.github.com> Date: Thu, 18 Jul 2024 21:03:42 -0400 Subject: [PATCH 227/306] refactor(tensorrt_yolox): rework parameters (#7338) --- perception/tensorrt_yolox/README.md | 40 +--------- .../config/yolox_s_plus_opt.param.yaml | 2 + .../config/yolox_tiny.param.yaml | 8 +- .../src/tensorrt_yolox_node.cpp | 77 +++++-------------- 4 files changed, 27 insertions(+), 100 deletions(-) diff --git a/perception/tensorrt_yolox/README.md b/perception/tensorrt_yolox/README.md index af88e73cc04a6..c97fe74a324e7 100644 --- a/perception/tensorrt_yolox/README.md +++ b/perception/tensorrt_yolox/README.md @@ -31,44 +31,8 @@ Zheng Ge, Songtao Liu, Feng Wang, Zeming Li, Jian Sun, "YOLOX: Exceeding YOLO Se ## Parameters -### Core Parameters - -| Name | Type | Default Value | Description | -| ----------------- | ----- | ------------- | -------------------------------------------------------------------------------------- | -| `score_threshold` | float | 0.3 | If the objectness score is less than this value, the object is ignored in yolox layer. | -| `nms_threshold` | float | 0.7 | The IoU threshold for NMS method | - -**NOTE:** These two parameters are only valid for "plain" model (described later). - -### Node Parameters - -| Name | Type | Default Value | Description | -| -------------------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `model_path` | string | "" | The onnx file name for yolox model | -| `model_name` | string | "" | The yolox model name:
"yolox-sPlus-T4-960x960-pseudo-finetune" for detection only, could reduce resource and processing_time
"yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls" for multi-task including semantic segmentation | -| `label_path` | string | "" | The label file with label names for detected objects written on it | -| `precision` | string | "fp16" | The inference mode: "fp32", "fp16", "int8" | -| `build_only` | bool | false | shutdown node after TensorRT engine file is built | -| `calibration_algorithm` | string | "MinMax" | Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: Entropy",("Legacy" \| "Percentile"), "MinMax"] | -| `dla_core_id` | int | -1 | If positive ID value is specified, the node assign inference task to the DLA core | -| `quantize_first_layer` | bool | false | If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8 | -| `quantize_last_layer` | bool | false | If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8 | -| `profile_per_layer` | bool | false | If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose. | -| `clip_value` | double | 0.0 | If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration | -| `preprocess_on_gpu` | bool | true | If true, pre-processing is performed on GPU | -| `calibration_image_list_path` | string | "" | Path to a file which contains path to images. Those images will be used for int8 quantization. | -| `yolox_s_plus_opt_param_path` | string | "" | Path to parameter file | -| `is_publish_color_mask` | bool | false | If true, publish color mask for result visualization | -| `is_roi_overlap_segment` | bool | true | If true, overlay detected object roi onto semantic segmentation to avoid over-filtering pointcloud especially small size objects | -| `overlap_roi_score_threshold` | float | 0.3 | minimum existence_probability of detected roi considered to replace segmentation | -| `roi_overlay_segment_label.UNKNOWN` | bool | true | If true, unknown objects roi will be overlaid onto sematic segmentation mask. | -| `roi_overlay_segment_label.CAR` | bool | false | If true, car objects roi will be overlaid onto sematic segmentation mask. | -| `roi_overlay_segment_label.TRUCK` | bool | false | If true, truck objects roi will be overlaid onto sematic segmentation mask. | -| `roi_overlay_segment_label.BUS` | bool | false | If true, bus objects roi will be overlaid onto sematic segmentation mask. | -| `roi_overlay_segment_label.MOTORCYCLE` | bool | true | If true, motorcycle objects roi will be overlaid onto sematic segmentation mask. | -| `roi_overlay_segment_label.BICYCLE` | bool | true | If true, bicycle objects roi will be overlaid onto sematic segmentation mask. | -| `roi_overlay_segment_label.PEDESTRIAN` | bool | true | If true, pedestrian objects roi will be overlaid onto sematic segmentation mask. | -| `roi_overlay_segment_label.ANIMAL` | bool | true | If true, animal objects roi will be overlaid onto sematic segmentation mask. | +{{ json_to_markdown("perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json") }} +{{ json_to_markdown("perception/tensorrt_yolox/schema/yolox_tiny.schema.json") }} ## Assumptions / Known limits diff --git a/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml b/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml index 57c1b40c44a4d..d963074e51840 100644 --- a/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml +++ b/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml @@ -1,6 +1,7 @@ # cspell: ignore semseg /**: ros__parameters: + # refine segmentation mask by overlay roi class # disable when sematic segmentation accuracy is good enough is_roi_overlap_segment: true @@ -26,6 +27,7 @@ color_map_path: "$(var data_path)/tensorrt_yolox/semseg_color_map.csv" score_threshold: 0.35 nms_threshold: 0.7 + precision: "int8" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]. calibration_algorithm: "Entropy" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]. dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core. diff --git a/perception/tensorrt_yolox/config/yolox_tiny.param.yaml b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml index e45742a7afb95..051aa22f52d7d 100644 --- a/perception/tensorrt_yolox/config/yolox_tiny.param.yaml +++ b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: - model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx" - label_path: "$(var data_path)/tensorrt_yolox/label.txt" - score_threshold: 0.35 - nms_threshold: 0.7 + model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx" # The onnx file name for YOLOX model. + label_path: "$(var data_path)/tensorrt_yolox/label.txt" # The label file path for YOLOX model. + score_threshold: 0.35 # Objects with a score lower than this value will be ignored. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it. + nms_threshold: 0.7 # Detection results will be ignored if IoU over this value. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it. precision: "fp16" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]. calibration_algorithm: "MinMax" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]. dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core. diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp index c13384918bd9c..f1189b53c23bf 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -40,64 +40,25 @@ TrtYoloXNode::TrtYoloXNode(const rclcpp::NodeOptions & node_options) using std::placeholders::_1; using std::chrono_literals::operator""ms; - auto declare_parameter_with_description = - [this](std::string name, auto default_val, std::string description = "") { - auto param_desc = rcl_interfaces::msg::ParameterDescriptor{}; - param_desc.description = description; - return this->declare_parameter(name, default_val, param_desc); - }; - - std::string model_path = - declare_parameter_with_description("model_path", "", "The onnx file name for YOLOX model"); - std::string label_path = declare_parameter_with_description( - "label_path", "", - "The label file that consists of label name texts for detected object categories"); - std::string precision = declare_parameter_with_description( - "precision", "fp32", - "operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"); - float score_threshold = declare_parameter_with_description( - "score_threshold", 0.3, - ("Objects with a score lower than this value will be ignored. " - "This threshold will be ignored if specified model contains EfficientNMS_TRT module in it")); - float nms_threshold = declare_parameter_with_description( - "nms_threshold", 0.7, - ("Detection results will be ignored if IoU over this value. " - "This threshold will be ignored if specified model contains EfficientNMS_TRT module in it")); - std::string calibration_algorithm = declare_parameter_with_description( - "calibration_algorithm", "MinMax", - ("Calibration algorithm to be used for quantization when precision==int8. " - "Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]")); - int dla_core_id = declare_parameter_with_description( - "dla_core_id", -1, - "If positive ID value is specified, the node assign inference task to the DLA core"); - bool quantize_first_layer = declare_parameter_with_description( - "quantize_first_layer", false, - ("If true, set the operating precision for the first (input) layer to be fp16. " - "This option is valid only when precision==int8")); - bool quantize_last_layer = declare_parameter_with_description( - "quantize_last_layer", false, - ("If true, set the operating precision for the last (output) layer to be fp16. " - "This option is valid only when precision==int8")); - bool profile_per_layer = declare_parameter_with_description( - "profile_per_layer", false, - ("If true, profiler function will be enabled. " - "Since the profile function may affect execution speed, it is recommended " - "to set this flag true only for development purpose.")); - double clip_value = declare_parameter_with_description( - "clip_value", 0.0, - ("If positive value is specified, " - "the value of each layer output will be clipped between [0.0, clip_value]. " - "This option is valid only when precision==int8 and used to manually specify " - "the dynamic range instead of using any calibration")); - bool preprocess_on_gpu = declare_parameter_with_description( - "preprocess_on_gpu", true, "If true, pre-processing is performed on GPU"); - std::string calibration_image_list_path = declare_parameter_with_description( - "calibration_image_list_path", "", - ("Path to a file which contains path to images." - "Those images will be used for int8 quantization.")); - - std::string color_map_path = declare_parameter_with_description( - "color_map_path", "", ("Path to a file which contains path to color map.")); + const std::string model_path = this->declare_parameter("model_path"); + const std::string label_path = this->declare_parameter("label_path"); + const std::string precision = this->declare_parameter("precision"); + const float score_threshold = + static_cast(this->declare_parameter("score_threshold")); + const float nms_threshold = static_cast(this->declare_parameter("nms_threshold")); + const std::string calibration_algorithm = + this->declare_parameter("calibration_algorithm"); + const int dla_core_id = this->declare_parameter("dla_core_id"); + const bool quantize_first_layer = this->declare_parameter("quantize_first_layer"); + const bool quantize_last_layer = this->declare_parameter("quantize_last_layer"); + const bool profile_per_layer = this->declare_parameter("profile_per_layer"); + const double clip_value = this->declare_parameter("clip_value"); + const bool preprocess_on_gpu = this->declare_parameter("preprocess_on_gpu"); + const std::string calibration_image_list_path = + this->declare_parameter("calibration_image_list_path"); + + std::string color_map_path = this->declare_parameter("color_map_path"); + if (!readLabelFile(label_path)) { RCLCPP_ERROR(this->get_logger(), "Could not find label file"); rclcpp::shutdown(); From 422e92b9900ad02e26cee0ec8b225f7ad10efda1 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Fri, 19 Jul 2024 03:16:06 +0200 Subject: [PATCH 228/306] refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (#7809) Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 2 +- .../object_recognition/tracking/tracking.launch.xml | 2 +- launch/tier4_perception_launch/package.xml | 3 ++- .../CMakeLists.txt | 2 +- .../README.md | 0 .../config/data_association_matrix.param.yaml | 0 .../config/decorative_tracker_merger.param.yaml | 0 .../decorative_tracker_merger_policy.param.yaml | 0 .../image/decorative_tracker_merger.drawio.svg | 0 .../image/time_sync.drawio.svg | 0 .../image/tracklet_management.drawio.svg | 0 .../association/data_association.hpp | 10 +++++----- .../association/solver/gnn_solver.hpp | 12 ++++++------ .../association/solver/gnn_solver_interface.hpp | 6 +++--- .../association/solver/mu_ssp.hpp | 8 ++++---- .../association/solver/ssp.hpp | 8 ++++---- .../decorative_tracker_merger_node.hpp | 12 ++++++------ .../tracking_object_merger}/utils/tracker_state.hpp | 6 +++--- .../autoware/tracking_object_merger}/utils/utils.hpp | 6 +++--- .../launch/decorative_tracker_merger.launch.xml | 8 ++++---- .../package.xml | 2 +- .../src/association/data_association.cpp | 6 +++--- .../solver/mu_successive_shortest_path_wrapper.cpp | 2 +- .../association/solver/successive_shortest_path.cpp | 2 +- .../src/decorative_tracker_merger_node.cpp | 6 +++--- .../src/utils/tracker_state.cpp | 4 ++-- .../src/utils/utils.cpp | 2 +- 27 files changed, 55 insertions(+), 54 deletions(-) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/CMakeLists.txt (95%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/README.md (100%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/config/data_association_matrix.param.yaml (100%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/config/decorative_tracker_merger.param.yaml (100%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/config/decorative_tracker_merger_policy.param.yaml (100%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/image/decorative_tracker_merger.drawio.svg (100%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/image/time_sync.drawio.svg (100%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/image/tracklet_management.drawio.svg (100%) rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/data_association.hpp (86%) rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/solver/gnn_solver.hpp (59%) rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/solver/gnn_solver_interface.hpp (79%) rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/solver/mu_ssp.hpp (78%) rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/association/solver/ssp.hpp (79%) rename perception/{tracking_object_merger/src => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/decorative_tracker_merger_node.hpp (92%) rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/utils/tracker_state.hpp (96%) rename perception/{tracking_object_merger/include/autoware_tracking_object_merger => autoware_tracking_object_merger/include/autoware/tracking_object_merger}/utils/utils.hpp (94%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/launch/decorative_tracker_merger.launch.xml (52%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/package.xml (96%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/association/data_association.cpp (97%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/association/solver/mu_successive_shortest_path_wrapper.cpp (95%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/association/solver/successive_shortest_path.cpp (99%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/decorative_tracker_merger_node.cpp (98%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/utils/tracker_state.cpp (98%) rename perception/{tracking_object_merger => autoware_tracking_object_merger}/src/utils/utils.cpp (99%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 0233fee04513c..c31b7d3c0051b 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -113,6 +113,7 @@ perception/autoware_radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4. perception/autoware_radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp perception/autoware_radar_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp @@ -137,7 +138,6 @@ perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp -perception/tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp perception/traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp perception/traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml index 580436411a895..83eeeef42c36f 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml @@ -55,7 +55,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index a240d3e0576e3..0be8367052650 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -25,6 +25,8 @@ autoware_radar_object_clustering autoware_radar_object_tracker autoware_raindrop_cluster_filter + autoware_tracking_object_merger + cluster_merger compare_map_segmentation detected_object_feature_remover detected_object_validation @@ -41,7 +43,6 @@ probabilistic_occupancy_grid_map shape_estimation topic_tools - tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector diff --git a/perception/tracking_object_merger/CMakeLists.txt b/perception/autoware_tracking_object_merger/CMakeLists.txt similarity index 95% rename from perception/tracking_object_merger/CMakeLists.txt rename to perception/autoware_tracking_object_merger/CMakeLists.txt index 7e7c698365922..9b17ee0546879 100644 --- a/perception/tracking_object_merger/CMakeLists.txt +++ b/perception/autoware_tracking_object_merger/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(tracking_object_merger VERSION 1.0.0) +project(autoware_tracking_object_merger VERSION 1.0.0) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wconversion) diff --git a/perception/tracking_object_merger/README.md b/perception/autoware_tracking_object_merger/README.md similarity index 100% rename from perception/tracking_object_merger/README.md rename to perception/autoware_tracking_object_merger/README.md diff --git a/perception/tracking_object_merger/config/data_association_matrix.param.yaml b/perception/autoware_tracking_object_merger/config/data_association_matrix.param.yaml similarity index 100% rename from perception/tracking_object_merger/config/data_association_matrix.param.yaml rename to perception/autoware_tracking_object_merger/config/data_association_matrix.param.yaml diff --git a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml b/perception/autoware_tracking_object_merger/config/decorative_tracker_merger.param.yaml similarity index 100% rename from perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml rename to perception/autoware_tracking_object_merger/config/decorative_tracker_merger.param.yaml diff --git a/perception/tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml b/perception/autoware_tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml similarity index 100% rename from perception/tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml rename to perception/autoware_tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml diff --git a/perception/tracking_object_merger/image/decorative_tracker_merger.drawio.svg b/perception/autoware_tracking_object_merger/image/decorative_tracker_merger.drawio.svg similarity index 100% rename from perception/tracking_object_merger/image/decorative_tracker_merger.drawio.svg rename to perception/autoware_tracking_object_merger/image/decorative_tracker_merger.drawio.svg diff --git a/perception/tracking_object_merger/image/time_sync.drawio.svg b/perception/autoware_tracking_object_merger/image/time_sync.drawio.svg similarity index 100% rename from perception/tracking_object_merger/image/time_sync.drawio.svg rename to perception/autoware_tracking_object_merger/image/time_sync.drawio.svg diff --git a/perception/tracking_object_merger/image/tracklet_management.drawio.svg b/perception/autoware_tracking_object_merger/image/tracklet_management.drawio.svg similarity index 100% rename from perception/tracking_object_merger/image/tracklet_management.drawio.svg rename to perception/autoware_tracking_object_merger/image/tracklet_management.drawio.svg diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/data_association.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/data_association.hpp similarity index 86% rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/data_association.hpp rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/data_association.hpp index a272e42a74e80..af4a65869eca5 100644 --- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/data_association.hpp +++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/data_association.hpp @@ -16,13 +16,13 @@ // Author: v1.0 Yukihiro Saito // -#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ -#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ +#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ +#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ #define EIGEN_MPL2_ONLY -#include "autoware_tracking_object_merger/association/solver/gnn_solver.hpp" -#include "autoware_tracking_object_merger/utils/tracker_state.hpp" +#include "autoware/tracking_object_merger/association/solver/gnn_solver.hpp" +#include "autoware/tracking_object_merger/utils/tracker_state.hpp" #include #include @@ -72,4 +72,4 @@ class DataAssociation } // namespace autoware::tracking_object_merger -#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ +#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_ diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver.hpp similarity index 59% rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver.hpp rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver.hpp index 4cea0e3cbe96f..64a18d878f7c3 100644 --- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver.hpp +++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ -#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ +#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ +#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ -#include "autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp" -#include "autoware_tracking_object_merger/association/solver/mu_ssp.hpp" -#include "autoware_tracking_object_merger/association/solver/ssp.hpp" +#include "autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp" +#include "autoware/tracking_object_merger/association/solver/mu_ssp.hpp" +#include "autoware/tracking_object_merger/association/solver/ssp.hpp" -#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ +#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp similarity index 79% rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp index d751075773a09..732ed5cd87041 100644 --- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp +++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ -#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ +#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ +#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ #include #include @@ -32,4 +32,4 @@ class GnnSolverInterface }; } // namespace autoware::tracking_object_merger::gnn_solver -#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ +#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_ diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/mu_ssp.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/mu_ssp.hpp similarity index 78% rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/mu_ssp.hpp rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/mu_ssp.hpp index 47c23bc8eb1b1..b219c1ac441eb 100644 --- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/mu_ssp.hpp +++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/mu_ssp.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ -#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ +#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ +#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ -#include "autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp" +#include "autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp" #include #include @@ -34,4 +34,4 @@ class MuSSP : public GnnSolverInterface }; } // namespace autoware::tracking_object_merger::gnn_solver -#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ +#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/ssp.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/ssp.hpp similarity index 79% rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/ssp.hpp rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/ssp.hpp index bcfac73f3e43b..03311e4e43694 100644 --- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/ssp.hpp +++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/ssp.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ -#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ +#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ +#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ -#include "autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp" +#include "autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp" #include #include @@ -34,4 +34,4 @@ class SSP : public GnnSolverInterface }; } // namespace autoware::tracking_object_merger::gnn_solver -#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ +#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ diff --git a/perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/decorative_tracker_merger_node.hpp similarity index 92% rename from perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/decorative_tracker_merger_node.hpp index e0ef193b8306b..f091959396574 100644 --- a/perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp +++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/decorative_tracker_merger_node.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DECORATIVE_TRACKER_MERGER_NODE_HPP_ -#define DECORATIVE_TRACKER_MERGER_NODE_HPP_ +#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__DECORATIVE_TRACKER_MERGER_NODE_HPP_ +#define AUTOWARE__TRACKING_OBJECT_MERGER__DECORATIVE_TRACKER_MERGER_NODE_HPP_ +#include "autoware/tracking_object_merger/association/data_association.hpp" +#include "autoware/tracking_object_merger/utils/tracker_state.hpp" +#include "autoware/tracking_object_merger/utils/utils.hpp" #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_tracking_object_merger/association/data_association.hpp" -#include "autoware_tracking_object_merger/utils/tracker_state.hpp" -#include "autoware_tracking_object_merger/utils/utils.hpp" #include @@ -133,4 +133,4 @@ class DecorativeTrackerMergerNode : public rclcpp::Node } // namespace autoware::tracking_object_merger -#endif // DECORATIVE_TRACKER_MERGER_NODE_HPP_ +#endif // AUTOWARE__TRACKING_OBJECT_MERGER__DECORATIVE_TRACKER_MERGER_NODE_HPP_ diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/tracker_state.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/tracker_state.hpp similarity index 96% rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/tracker_state.hpp rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/tracker_state.hpp index ed1f69191b652..5f1ab36f1265e 100644 --- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/tracker_state.hpp +++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/tracker_state.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_ -#define AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_ +#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_ +#define AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_ #include #include @@ -149,4 +149,4 @@ TrackedObjects getTrackedObjectsFromTrackerStates( std::vector & tracker_states, const rclcpp::Time & time); } // namespace autoware::tracking_object_merger -#endif // AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_ +#endif // AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_ diff --git a/perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/utils.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp similarity index 94% rename from perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/utils.hpp rename to perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp index eb288c4e853ad..17a385da7cb41 100644 --- a/perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/utils.hpp +++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp @@ -14,8 +14,8 @@ // // -#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_ -#define AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_ +#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_ +#define AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_ #include "autoware/universe_utils/geometry/geometry.hpp" @@ -100,4 +100,4 @@ void updateWholeTrackedObject(TrackedObject & main_obj, const TrackedObject & su } // namespace autoware::tracking_object_merger -#endif // AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_ +#endif // AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_ diff --git a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml b/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml similarity index 52% rename from perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml rename to perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml index 2cc2a69e295e6..cd609a0fa612a 100644 --- a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml +++ b/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml @@ -3,11 +3,11 @@ - - - + + + - + diff --git a/perception/tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml similarity index 96% rename from perception/tracking_object_merger/package.xml rename to perception/autoware_tracking_object_merger/package.xml index cc23578773fe2..321016ac0ff48 100644 --- a/perception/tracking_object_merger/package.xml +++ b/perception/autoware_tracking_object_merger/package.xml @@ -1,7 +1,7 @@ - tracking_object_merger + autoware_tracking_object_merger 0.0.0 merge tracking object Yukihiro Saito diff --git a/perception/tracking_object_merger/src/association/data_association.cpp b/perception/autoware_tracking_object_merger/src/association/data_association.cpp similarity index 97% rename from perception/tracking_object_merger/src/association/data_association.cpp rename to perception/autoware_tracking_object_merger/src/association/data_association.cpp index 046fcf5986469..119c95c86daf8 100644 --- a/perception/tracking_object_merger/src/association/data_association.cpp +++ b/perception/autoware_tracking_object_merger/src/association/data_association.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_tracking_object_merger/association/data_association.hpp" +#include "autoware/tracking_object_merger/association/data_association.hpp" +#include "autoware/tracking_object_merger/association/solver/gnn_solver.hpp" +#include "autoware/tracking_object_merger/utils/utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "autoware_tracking_object_merger/association/solver/gnn_solver.hpp" -#include "autoware_tracking_object_merger/utils/utils.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include diff --git a/perception/tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp b/perception/autoware_tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp similarity index 95% rename from perception/tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp rename to perception/autoware_tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp index d2db6eba068ec..7899d7e1a7898 100644 --- a/perception/tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp +++ b/perception/autoware_tracking_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_tracking_object_merger/association/solver/mu_ssp.hpp" +#include "autoware/tracking_object_merger/association/solver/mu_ssp.hpp" #include diff --git a/perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp b/perception/autoware_tracking_object_merger/src/association/solver/successive_shortest_path.cpp similarity index 99% rename from perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp rename to perception/autoware_tracking_object_merger/src/association/solver/successive_shortest_path.cpp index 7d792c157d356..e56901e479eac 100644 --- a/perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp +++ b/perception/autoware_tracking_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_tracking_object_merger/association/solver/ssp.hpp" +#include "autoware/tracking_object_merger/association/solver/ssp.hpp" #include #include diff --git a/perception/tracking_object_merger/src/decorative_tracker_merger_node.cpp b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp similarity index 98% rename from perception/tracking_object_merger/src/decorative_tracker_merger_node.cpp rename to perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp index 6f65941c0a747..187fb6e1d462e 100644 --- a/perception/tracking_object_merger/src/decorative_tracker_merger_node.cpp +++ b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp @@ -14,10 +14,10 @@ #define EIGEN_MPL2_ONLY -#include "decorative_tracker_merger_node.hpp" +#include "autoware/tracking_object_merger/decorative_tracker_merger_node.hpp" -#include "autoware_tracking_object_merger/association/solver/ssp.hpp" -#include "autoware_tracking_object_merger/utils/utils.hpp" +#include "autoware/tracking_object_merger/association/solver/ssp.hpp" +#include "autoware/tracking_object_merger/utils/utils.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include diff --git a/perception/tracking_object_merger/src/utils/tracker_state.cpp b/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp similarity index 98% rename from perception/tracking_object_merger/src/utils/tracker_state.cpp rename to perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp index 54b1d73c375a5..eabbd72364129 100644 --- a/perception/tracking_object_merger/src/utils/tracker_state.cpp +++ b/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_tracking_object_merger/utils/tracker_state.hpp" +#include "autoware/tracking_object_merger/utils/tracker_state.hpp" -#include "autoware_tracking_object_merger/utils/utils.hpp" +#include "autoware/tracking_object_merger/utils/utils.hpp" namespace autoware::tracking_object_merger { diff --git a/perception/tracking_object_merger/src/utils/utils.cpp b/perception/autoware_tracking_object_merger/src/utils/utils.cpp similarity index 99% rename from perception/tracking_object_merger/src/utils/utils.cpp rename to perception/autoware_tracking_object_merger/src/utils/utils.cpp index 1ae705aa38f15..3a24cc0f8321d 100644 --- a/perception/tracking_object_merger/src/utils/utils.cpp +++ b/perception/autoware_tracking_object_merger/src/utils/utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_tracking_object_merger/utils/utils.hpp" +#include "autoware/tracking_object_merger/utils/utils.hpp" #include "autoware_perception_msgs/msg/shape.hpp" #include "autoware_perception_msgs/msg/tracked_object.hpp" From d58afb318080f22e1f0094560ce3a85868214347 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 19 Jul 2024 10:25:53 +0900 Subject: [PATCH 229/306] fix(mrm_handler, emergency_handler): remove unnecessary depend (#8099) * fix(mrm_handler): remove unnecessary depends Signed-off-by: veqcc * fix(emergency_handler): remove unnecessary depends Signed-off-by: veqcc --------- Signed-off-by: veqcc --- system/emergency_handler/package.xml | 2 -- system/mrm_handler/package.xml | 4 ---- 2 files changed, 6 deletions(-) diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml index 099e8a77d191e..e16c1b60a5be0 100644 --- a/system/emergency_handler/package.xml +++ b/system/emergency_handler/package.xml @@ -20,8 +20,6 @@ nav_msgs rclcpp rclcpp_components - std_msgs - std_srvs tier4_system_msgs ament_lint_auto diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml index a2c3397296db3..6e08b261f09c0 100644 --- a/system/mrm_handler/package.xml +++ b/system/mrm_handler/package.xml @@ -13,15 +13,11 @@ autoware_cmake autoware_adapi_v1_msgs - autoware_control_msgs - autoware_system_msgs autoware_universe_utils autoware_vehicle_msgs nav_msgs rclcpp rclcpp_components - std_msgs - std_srvs tier4_system_msgs ament_lint_auto From 26af438b1d3a8edb5a9396cfd6e66db6a774d320 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 19 Jul 2024 10:51:35 +0900 Subject: [PATCH 230/306] refactor(multi_object_tracker)!: add package name prefix of autoware_ (#8083) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker Signed-off-by: Taekjin LEE * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/CODEOWNERS | 2 +- .../object_recognition/tracking/tracking.launch.xml | 4 ++-- launch/tier4_perception_launch/package.xml | 2 +- .../CMakeLists.txt | 2 +- .../README.md | 0 .../config/data_association_matrix.param.yaml | 0 .../config/input_channels.param.yaml | 0 .../config/multi_object_tracker_node.param.yaml | 0 .../config/simulation_tracker.param.yaml | 0 .../image/anchor_point.drawio.svg | 0 .../image/kinematic_bicycle_model.png | Bin .../image/multi_object_tracker_overview.svg | 0 .../image/mussp_evaluation1.png | Bin .../image/mussp_evaluation2.png | Bin .../image/nearest_corner_or_side.drawio.svg | 0 .../association/association.hpp | 0 .../association/solver/gnn_solver.hpp | 0 .../association/solver/gnn_solver_interface.hpp | 0 .../association/solver/mu_ssp.hpp | 0 .../multi_object_tracker/association/solver/ssp.hpp | 0 .../tracker/model/bicycle_tracker.hpp | 0 .../tracker/model/big_vehicle_tracker.hpp | 0 .../tracker/model/multiple_vehicle_tracker.hpp | 0 .../tracker/model/normal_vehicle_tracker.hpp | 0 .../tracker/model/pass_through_tracker.hpp | 0 .../model/pedestrian_and_bicycle_tracker.hpp | 0 .../tracker/model/pedestrian_tracker.hpp | 0 .../tracker/model/tracker_base.hpp | 0 .../tracker/model/unknown_tracker.hpp | 0 .../tracker/motion_model/bicycle_motion_model.hpp | 0 .../tracker/motion_model/ctrv_motion_model.hpp | 0 .../tracker/motion_model/cv_motion_model.hpp | 0 .../tracker/motion_model/motion_model_base.hpp | 0 .../tracker/object_model/object_model.hpp | 0 .../multi_object_tracker/tracker/tracker.hpp | 0 .../autoware/multi_object_tracker/utils/utils.hpp | 0 .../launch/multi_object_tracker.launch.xml | 8 ++++---- .../lib/association/association.cpp | 0 .../mu_successive_shortest_path/mu_ssp.cpp | 0 .../association/successive_shortest_path/ssp.cpp | 0 .../lib/tracker/model/bicycle_tracker.cpp | 0 .../lib/tracker/model/big_vehicle_tracker.cpp | 0 .../lib/tracker/model/multiple_vehicle_tracker.cpp | 0 .../lib/tracker/model/normal_vehicle_tracker.cpp | 0 .../lib/tracker/model/pass_through_tracker.cpp | 0 .../model/pedestrian_and_bicycle_tracker.cpp | 0 .../lib/tracker/model/pedestrian_tracker.cpp | 0 .../lib/tracker/model/tracker_base.cpp | 0 .../lib/tracker/model/unknown_tracker.cpp | 0 .../tracker/motion_model/bicycle_motion_model.cpp | 0 .../lib/tracker/motion_model/ctrv_motion_model.cpp | 0 .../lib/tracker/motion_model/cv_motion_model.cpp | 0 .../lib/tracker/motion_model/motion_model_base.cpp | 0 .../models.md | 0 .../package.xml | 4 ++-- .../src/debugger/debug_object.cpp | 0 .../src/debugger/debug_object.hpp | 0 .../src/debugger/debugger.cpp | 0 .../src/debugger/debugger.hpp | 0 .../src/multi_object_tracker_node.cpp | 0 .../src/multi_object_tracker_node.hpp | 0 .../src/processor/input_manager.cpp | 0 .../src/processor/input_manager.hpp | 0 .../src/processor/processor.cpp | 0 .../src/processor/processor.hpp | 0 .../autoware_radar_object_clustering/README.md | 2 +- 66 files changed, 12 insertions(+), 12 deletions(-) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/CMakeLists.txt (97%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/README.md (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/config/data_association_matrix.param.yaml (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/config/input_channels.param.yaml (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/config/multi_object_tracker_node.param.yaml (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/config/simulation_tracker.param.yaml (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/image/anchor_point.drawio.svg (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/image/kinematic_bicycle_model.png (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/image/multi_object_tracker_overview.svg (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/image/mussp_evaluation1.png (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/image/mussp_evaluation2.png (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/image/nearest_corner_or_side.drawio.svg (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/association/association.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/association/solver/ssp.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/tracker/tracker.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/include/autoware/multi_object_tracker/utils/utils.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/launch/multi_object_tracker.launch.xml (52%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/association/association.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/association/mu_successive_shortest_path/mu_ssp.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/association/successive_shortest_path/ssp.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/model/bicycle_tracker.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/model/big_vehicle_tracker.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/model/multiple_vehicle_tracker.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/model/normal_vehicle_tracker.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/model/pass_through_tracker.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/model/pedestrian_tracker.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/model/tracker_base.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/model/unknown_tracker.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/motion_model/bicycle_motion_model.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/motion_model/ctrv_motion_model.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/motion_model/cv_motion_model.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/lib/tracker/motion_model/motion_model_base.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/models.md (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/package.xml (90%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/debugger/debug_object.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/debugger/debug_object.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/debugger/debugger.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/debugger/debugger.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/multi_object_tracker_node.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/multi_object_tracker_node.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/processor/input_manager.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/processor/input_manager.hpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/processor/processor.cpp (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/src/processor/processor.hpp (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index c31b7d3c0051b..7c8c123a4ade1 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -129,7 +129,7 @@ perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com yoshi.ri@ti perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi.ri@tier4.jp 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/autoware_multi_object_tracker/** 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/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml index 83eeeef42c36f..cc9fe78b748a4 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml @@ -35,7 +35,7 @@ - + @@ -89,7 +89,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 0be8367052650..c247bd9bbf339 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -17,6 +17,7 @@ autoware_crosswalk_traffic_light_estimator autoware_detection_by_tracker autoware_map_based_prediction + autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter @@ -36,7 +37,6 @@ image_projection_based_fusion image_transport_decompressor lidar_apollo_instance_segmentation - multi_object_tracker occupancy_grid_map_outlier_filter pointcloud_preprocessor pointcloud_to_laserscan diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/autoware_multi_object_tracker/CMakeLists.txt similarity index 97% rename from perception/multi_object_tracker/CMakeLists.txt rename to perception/autoware_multi_object_tracker/CMakeLists.txt index 370e5bb0b9161..fe4546cc9bc60 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/autoware_multi_object_tracker/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(multi_object_tracker) +project(autoware_multi_object_tracker) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/perception/multi_object_tracker/README.md b/perception/autoware_multi_object_tracker/README.md similarity index 100% rename from perception/multi_object_tracker/README.md rename to perception/autoware_multi_object_tracker/README.md diff --git a/perception/multi_object_tracker/config/data_association_matrix.param.yaml b/perception/autoware_multi_object_tracker/config/data_association_matrix.param.yaml similarity index 100% rename from perception/multi_object_tracker/config/data_association_matrix.param.yaml rename to perception/autoware_multi_object_tracker/config/data_association_matrix.param.yaml diff --git a/perception/multi_object_tracker/config/input_channels.param.yaml b/perception/autoware_multi_object_tracker/config/input_channels.param.yaml similarity index 100% rename from perception/multi_object_tracker/config/input_channels.param.yaml rename to perception/autoware_multi_object_tracker/config/input_channels.param.yaml diff --git a/perception/multi_object_tracker/config/multi_object_tracker_node.param.yaml b/perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml similarity index 100% rename from perception/multi_object_tracker/config/multi_object_tracker_node.param.yaml rename to perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml diff --git a/perception/multi_object_tracker/config/simulation_tracker.param.yaml b/perception/autoware_multi_object_tracker/config/simulation_tracker.param.yaml similarity index 100% rename from perception/multi_object_tracker/config/simulation_tracker.param.yaml rename to perception/autoware_multi_object_tracker/config/simulation_tracker.param.yaml diff --git a/perception/multi_object_tracker/image/anchor_point.drawio.svg b/perception/autoware_multi_object_tracker/image/anchor_point.drawio.svg similarity index 100% rename from perception/multi_object_tracker/image/anchor_point.drawio.svg rename to perception/autoware_multi_object_tracker/image/anchor_point.drawio.svg diff --git a/perception/multi_object_tracker/image/kinematic_bicycle_model.png b/perception/autoware_multi_object_tracker/image/kinematic_bicycle_model.png similarity index 100% rename from perception/multi_object_tracker/image/kinematic_bicycle_model.png rename to perception/autoware_multi_object_tracker/image/kinematic_bicycle_model.png diff --git a/perception/multi_object_tracker/image/multi_object_tracker_overview.svg b/perception/autoware_multi_object_tracker/image/multi_object_tracker_overview.svg similarity index 100% rename from perception/multi_object_tracker/image/multi_object_tracker_overview.svg rename to perception/autoware_multi_object_tracker/image/multi_object_tracker_overview.svg diff --git a/perception/multi_object_tracker/image/mussp_evaluation1.png b/perception/autoware_multi_object_tracker/image/mussp_evaluation1.png similarity index 100% rename from perception/multi_object_tracker/image/mussp_evaluation1.png rename to perception/autoware_multi_object_tracker/image/mussp_evaluation1.png diff --git a/perception/multi_object_tracker/image/mussp_evaluation2.png b/perception/autoware_multi_object_tracker/image/mussp_evaluation2.png similarity index 100% rename from perception/multi_object_tracker/image/mussp_evaluation2.png rename to perception/autoware_multi_object_tracker/image/mussp_evaluation2.png diff --git a/perception/multi_object_tracker/image/nearest_corner_or_side.drawio.svg b/perception/autoware_multi_object_tracker/image/nearest_corner_or_side.drawio.svg similarity index 100% rename from perception/multi_object_tracker/image/nearest_corner_or_side.drawio.svg rename to perception/autoware_multi_object_tracker/image/nearest_corner_or_side.drawio.svg diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp diff --git a/perception/multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp similarity index 100% rename from perception/multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp diff --git a/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml b/perception/autoware_multi_object_tracker/launch/multi_object_tracker.launch.xml similarity index 52% rename from perception/multi_object_tracker/launch/multi_object_tracker.launch.xml rename to perception/autoware_multi_object_tracker/launch/multi_object_tracker.launch.xml index b00ccd8fa623e..db76e181a6afa 100644 --- a/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml +++ b/perception/autoware_multi_object_tracker/launch/multi_object_tracker.launch.xml @@ -2,11 +2,11 @@ - - - + + + - + diff --git a/perception/multi_object_tracker/lib/association/association.cpp b/perception/autoware_multi_object_tracker/lib/association/association.cpp similarity index 100% rename from perception/multi_object_tracker/lib/association/association.cpp rename to perception/autoware_multi_object_tracker/lib/association/association.cpp diff --git a/perception/multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp b/perception/autoware_multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp similarity index 100% rename from perception/multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp rename to perception/autoware_multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp diff --git a/perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp b/perception/autoware_multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp similarity index 100% rename from perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp rename to perception/autoware_multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp diff --git a/perception/multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp diff --git a/perception/multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp diff --git a/perception/multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp diff --git a/perception/multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp diff --git a/perception/multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp diff --git a/perception/multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp diff --git a/perception/multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp diff --git a/perception/multi_object_tracker/lib/tracker/model/tracker_base.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/model/tracker_base.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp diff --git a/perception/multi_object_tracker/lib/tracker/model/unknown_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/model/unknown_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp diff --git a/perception/multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp diff --git a/perception/multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp diff --git a/perception/multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp diff --git a/perception/multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp similarity index 100% rename from perception/multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp diff --git a/perception/multi_object_tracker/models.md b/perception/autoware_multi_object_tracker/models.md similarity index 100% rename from perception/multi_object_tracker/models.md rename to perception/autoware_multi_object_tracker/models.md diff --git a/perception/multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml similarity index 90% rename from perception/multi_object_tracker/package.xml rename to perception/autoware_multi_object_tracker/package.xml index 67f56273e79c5..3d941239976ea 100644 --- a/perception/multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -1,9 +1,9 @@ - multi_object_tracker + autoware_multi_object_tracker 1.0.0 - The ROS 2 multi_object_tracker package + The ROS 2 autoware_multi_object_tracker package Yukihiro Saito Yoshi Ri Taekjin Lee diff --git a/perception/multi_object_tracker/src/debugger/debug_object.cpp b/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp similarity index 100% rename from perception/multi_object_tracker/src/debugger/debug_object.cpp rename to perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp diff --git a/perception/multi_object_tracker/src/debugger/debug_object.hpp b/perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp similarity index 100% rename from perception/multi_object_tracker/src/debugger/debug_object.hpp rename to perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp diff --git a/perception/multi_object_tracker/src/debugger/debugger.cpp b/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp similarity index 100% rename from perception/multi_object_tracker/src/debugger/debugger.cpp rename to perception/autoware_multi_object_tracker/src/debugger/debugger.cpp diff --git a/perception/multi_object_tracker/src/debugger/debugger.hpp b/perception/autoware_multi_object_tracker/src/debugger/debugger.hpp similarity index 100% rename from perception/multi_object_tracker/src/debugger/debugger.hpp rename to perception/autoware_multi_object_tracker/src/debugger/debugger.hpp diff --git a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp similarity index 100% rename from perception/multi_object_tracker/src/multi_object_tracker_node.cpp rename to perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp diff --git a/perception/multi_object_tracker/src/multi_object_tracker_node.hpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp similarity index 100% rename from perception/multi_object_tracker/src/multi_object_tracker_node.hpp rename to perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp diff --git a/perception/multi_object_tracker/src/processor/input_manager.cpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp similarity index 100% rename from perception/multi_object_tracker/src/processor/input_manager.cpp rename to perception/autoware_multi_object_tracker/src/processor/input_manager.cpp diff --git a/perception/multi_object_tracker/src/processor/input_manager.hpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp similarity index 100% rename from perception/multi_object_tracker/src/processor/input_manager.hpp rename to perception/autoware_multi_object_tracker/src/processor/input_manager.hpp diff --git a/perception/multi_object_tracker/src/processor/processor.cpp b/perception/autoware_multi_object_tracker/src/processor/processor.cpp similarity index 100% rename from perception/multi_object_tracker/src/processor/processor.cpp rename to perception/autoware_multi_object_tracker/src/processor/processor.cpp diff --git a/perception/multi_object_tracker/src/processor/processor.hpp b/perception/autoware_multi_object_tracker/src/processor/processor.hpp similarity index 100% rename from perception/multi_object_tracker/src/processor/processor.hpp rename to perception/autoware_multi_object_tracker/src/processor/processor.hpp diff --git a/perception/autoware_radar_object_clustering/README.md b/perception/autoware_radar_object_clustering/README.md index 5fbb4df81a115..bb792185299ab 100644 --- a/perception/autoware_radar_object_clustering/README.md +++ b/perception/autoware_radar_object_clustering/README.md @@ -44,7 +44,7 @@ When the size information from radar outputs lack accuracy, `is_fixed_size` para If the parameter is true, the size of a clustered object is overwritten by the label set by `size_x`, `size_y`, and `size_z` parameters. If this package use for faraway dynamic object detection with radar, the parameter is recommended to set to `size_x`, `size_y`, `size_z`, as average of vehicle size. -Note that to use for [multi_objects_tracker](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/multi_object_tracker), the size parameters need to exceed `min_area_matrix` parameters of it. +Note that to use for [multi_objects_tracker](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_multi_object_tracker), the size parameters need to exceed `min_area_matrix` parameters of it. ### Limitation From a4dda766f40e1b3e64071fd9915e2e550aeb0ec4 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 11:05:33 +0900 Subject: [PATCH 231/306] fix(detected_object_validation): fix shadowVariable (#7935) fix:shadowVariable Signed-off-by: kobayu858 --- .../occupancy_grid_map/occupancy_grid_map_validator.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp b/perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp index ce900f30f4255..c082b4b0f03f1 100644 --- a/perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp +++ b/perception/detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp @@ -163,11 +163,11 @@ void OccupancyGridBasedValidator::showDebugImage( auto mask = getMask(ros_occ_grid, object); const float mean = mask ? cv::mean(occ_grid, mask.value())[0] * 0.01 : 1.0; if (mean_threshold_ < mean) { - auto mask = getMask(ros_occ_grid, object, passed_objects_image); - if (mask) passed_objects_image = mask.value(); + auto passed_mask = getMask(ros_occ_grid, object, passed_objects_image); + if (passed_mask) passed_objects_image = passed_mask.value(); } else { - auto mask = getMask(ros_occ_grid, object, removed_objects_image); - if (mask) removed_objects_image = mask.value(); + auto removed_mask = getMask(ros_occ_grid, object, removed_objects_image); + if (removed_mask) removed_objects_image = removed_mask.value(); } } } From 98d95b967f427944733c07e98e0ec6d48e15a047 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 11:06:00 +0900 Subject: [PATCH 232/306] fix(perception_online_evaluator): fix shadowVariable (#7933) * fix:shadowVariable Signed-off-by: kobayu858 * fix:clang-format Signed-off-by: kobayu858 * fix:shadowVariable Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/perception_online_evaluator_node.cpp | 53 ++++++++++--------- 1 file changed, 27 insertions(+), 26 deletions(-) diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp index 63d635af4ffdf..a577fd359563c 100644 --- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp @@ -247,32 +247,33 @@ rcl_interfaces::msg::SetParametersResult PerceptionOnlineEvaluatorNode::onParame updateParam(parameters, "objects_count_window_seconds", p->objects_count_window_seconds); // update parameters for each object class - const auto update_object_param = [&p, ¶meters]( - const auto & semantic, const std::string & ns) { - auto & config = p->object_parameters.at(semantic); - updateParam(parameters, ns + "check_lateral_deviation", config.check_lateral_deviation); - updateParam(parameters, ns + "check_yaw_deviation", config.check_yaw_deviation); - updateParam( - parameters, ns + "check_predicted_path_deviation", config.check_predicted_path_deviation); - updateParam(parameters, ns + "check_yaw_rate", config.check_yaw_rate); - updateParam( - parameters, ns + "check_total_objects_count", config.check_total_objects_count); - updateParam( - parameters, ns + "check_average_objects_count", config.check_average_objects_count); - updateParam( - parameters, ns + "check_interval_average_objects_count", - config.check_interval_average_objects_count); - }; - const std::string ns = "target_object."; - update_object_param(ObjectClassification::MOTORCYCLE, ns + "motorcycle."); - update_object_param(ObjectClassification::CAR, ns + "car."); - update_object_param(ObjectClassification::TRUCK, ns + "truck."); - update_object_param(ObjectClassification::TRAILER, ns + "trailer."); - update_object_param(ObjectClassification::BUS, ns + "bus."); - update_object_param(ObjectClassification::PEDESTRIAN, ns + "pedestrian."); - update_object_param(ObjectClassification::BICYCLE, ns + "bicycle."); - update_object_param(ObjectClassification::UNKNOWN, ns + "unknown."); - + { + const auto update_object_param = [&p, ¶meters]( + const auto & semantic, const std::string & ns) { + auto & config = p->object_parameters.at(semantic); + updateParam(parameters, ns + "check_lateral_deviation", config.check_lateral_deviation); + updateParam(parameters, ns + "check_yaw_deviation", config.check_yaw_deviation); + updateParam( + parameters, ns + "check_predicted_path_deviation", config.check_predicted_path_deviation); + updateParam(parameters, ns + "check_yaw_rate", config.check_yaw_rate); + updateParam( + parameters, ns + "check_total_objects_count", config.check_total_objects_count); + updateParam( + parameters, ns + "check_average_objects_count", config.check_average_objects_count); + updateParam( + parameters, ns + "check_interval_average_objects_count", + config.check_interval_average_objects_count); + }; + const std::string ns = "target_object."; + update_object_param(ObjectClassification::MOTORCYCLE, ns + "motorcycle."); + update_object_param(ObjectClassification::CAR, ns + "car."); + update_object_param(ObjectClassification::TRUCK, ns + "truck."); + update_object_param(ObjectClassification::TRAILER, ns + "trailer."); + update_object_param(ObjectClassification::BUS, ns + "bus."); + update_object_param(ObjectClassification::PEDESTRIAN, ns + "pedestrian."); + update_object_param(ObjectClassification::BICYCLE, ns + "bicycle."); + update_object_param(ObjectClassification::UNKNOWN, ns + "unknown."); + } // update debug marker parameters { const std::string ns = "debug_marker."; From d84075ff9e64fa16b0e2352cc72b589ad9e8a528 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Fri, 19 Jul 2024 11:49:28 +0900 Subject: [PATCH 233/306] fix(tier4_perception_launch): delete unnecessary dependency (#8101) delete cluster merger Signed-off-by: MasatoSaeki --- launch/tier4_perception_launch/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index c247bd9bbf339..0584376a2e80a 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -27,7 +27,6 @@ autoware_radar_object_tracker autoware_raindrop_cluster_filter autoware_tracking_object_merger - cluster_merger compare_map_segmentation detected_object_feature_remover detected_object_validation From 9e77db330ca1a5035b2f1f6091bdf2d4645e74c2 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 11:50:18 +0900 Subject: [PATCH 234/306] fix(traffic_light_map_based_detector): fix constVariableReference (#8057) fix:constVariableReference Signed-off-by: kobayu858 --- perception/traffic_light_map_based_detector/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/traffic_light_map_based_detector/src/node.cpp b/perception/traffic_light_map_based_detector/src/node.cpp index 7d241d71ce185..c1fbd4a4ad4f2 100644 --- a/perception/traffic_light_map_based_detector/src/node.cpp +++ b/perception/traffic_light_map_based_detector/src/node.cpp @@ -187,7 +187,7 @@ bool MapBasedDetector::getTransform( geometry_msgs::msg::TransformStamped transform = tf_buffer_.lookupTransform("map", frame_id, t, rclcpp::Duration::from_seconds(0.2)); tf2::fromMsg(transform.transform, tf); - } catch (tf2::TransformException & ex) { + } catch (const tf2::TransformException & ex) { return false; } return true; From 5c050ad7088fade9d9b21abcf15a1e3300fe90a6 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 11:55:53 +0900 Subject: [PATCH 235/306] fix(traffic_light_multi_camera_fusion): fix constVariableReference (#8058) fix:constVariableReference Signed-off-by: kobayu858 --- perception/traffic_light_multi_camera_fusion/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/traffic_light_multi_camera_fusion/src/node.cpp b/perception/traffic_light_multi_camera_fusion/src/node.cpp index 607aabdefa3cc..0e10fec3dbb87 100644 --- a/perception/traffic_light_multi_camera_fusion/src/node.cpp +++ b/perception/traffic_light_multi_camera_fusion/src/node.cpp @@ -293,7 +293,7 @@ void MultiCameraFusion::groupFusion( std::map & grouped_record_map) { grouped_record_map.clear(); - for (auto & p : fused_record_map) { + for (const auto & p : fused_record_map) { IdType roi_id = p.second.roi.traffic_light_id; /* this should not happen From 917d7e2bd9f681ab18e4c13ffc1459ce91ee36c8 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 11:56:26 +0900 Subject: [PATCH 236/306] fix(autoware_crosswalk_traffic_light_estimator): fix constVariableReference (#8055) fix:constVariableReference Signed-off-by: kobayu858 --- .../autoware_crosswalk_traffic_light_estimator/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp b/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp index 068cfc02a6aae..5d9f06c3432b5 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp +++ b/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp @@ -209,7 +209,7 @@ void CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignal( } std::vector erase_id_list; - for (auto & last_traffic_signal : last_detect_color_) { + for (const auto & last_traffic_signal : last_detect_color_) { const auto & id = last_traffic_signal.second.first.traffic_light_group_id; if (traffic_light_id_map.count(id) == 0) { From a2bd8b2202f5bee46f9c5adfbfcff19831c3a60c Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 11:56:48 +0900 Subject: [PATCH 237/306] fix(autoware_radar_fusion_to_detected_object): fix constParameterReference (#8040) fix:constParameterReference Signed-off-by: kobayu858 --- .../src/include/radar_fusion_to_detected_object.hpp | 4 ++-- .../src/radar_fusion_to_detected_object.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/autoware_radar_fusion_to_detected_object/src/include/radar_fusion_to_detected_object.hpp b/perception/autoware_radar_fusion_to_detected_object/src/include/radar_fusion_to_detected_object.hpp index 545b7d7e41b2a..b82b915898f53 100644 --- a/perception/autoware_radar_fusion_to_detected_object/src/include/radar_fusion_to_detected_object.hpp +++ b/perception/autoware_radar_fusion_to_detected_object/src/include/radar_fusion_to_detected_object.hpp @@ -99,9 +99,9 @@ class RadarFusionToDetectedObject // std::vector splitObject( // const DetectedObject & object, const std::shared_ptr> & radars); TwistWithCovariance estimateTwist( - const DetectedObject & object, std::shared_ptr> & radars); + const DetectedObject & object, const std::shared_ptr> & radars); bool isQualified( - const DetectedObject & object, std::shared_ptr> & radars); + const DetectedObject & object, const std::shared_ptr> & radars); TwistWithCovariance convertDopplerToTwist( const DetectedObject & object, const TwistWithCovariance & twist_with_covariance); bool isYawCorrect( diff --git a/perception/autoware_radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp b/perception/autoware_radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp index 0fb87c0f88ba0..bc96ac780fd0a 100644 --- a/perception/autoware_radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp +++ b/perception/autoware_radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp @@ -205,7 +205,7 @@ RadarFusionToDetectedObject::filterRadarWithinObject( // (Target value is amplitude if using radar pointcloud. Target value is probability if using radar // objects). TwistWithCovariance RadarFusionToDetectedObject::estimateTwist( - const DetectedObject & object, std::shared_ptr> & radars) + const DetectedObject & object, const std::shared_ptr> & radars) { if (!radars || (*radars).empty()) { TwistWithCovariance output{}; @@ -298,7 +298,7 @@ TwistWithCovariance RadarFusionToDetectedObject::estimateTwist( // Judge whether low confidence objects that do not have some radar points/objects or not. bool RadarFusionToDetectedObject::isQualified( - const DetectedObject & object, std::shared_ptr> & radars) + const DetectedObject & object, const std::shared_ptr> & radars) { if (object.existence_probability > param_.threshold_probability) { return true; From 08512d1d001d124bc8f6ce2aa0ca90323ebab21d Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 11:57:31 +0900 Subject: [PATCH 238/306] fix(autoware_behavior_path_static_obstacle_avoidance_module): fix constParameterReference (#8046) fix:constParameterReference Signed-off-by: kobayu858 --- .../behavior_path_static_obstacle_avoidance_module/utils.hpp | 2 +- .../src/utils.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp index a3b1b7e10b885..600c352123833 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp @@ -43,7 +43,7 @@ double calcShiftLength( const bool & is_object_on_right, const double & overhang_dist, const double & avoid_margin); bool isWithinLanes( - const lanelet::ConstLanelets & lanelets, std::shared_ptr & planner_data); + const lanelet::ConstLanelets & lanelets, const std::shared_ptr & planner_data); bool isShiftNecessary(const bool & is_object_on_right, const double & shift_length); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index ca1ee624a54d5..40373f00d4620 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -886,7 +886,7 @@ bool isSatisfiedWithNonVehicleCondition( } ObjectData::Behavior getObjectBehavior( - ObjectData & object, const std::shared_ptr & parameters) + const ObjectData & object, const std::shared_ptr & parameters) { if (isParallelToEgoLane(object, parameters->object_check_yaw_deviation)) { return ObjectData::Behavior::NONE; @@ -1101,7 +1101,7 @@ double calcShiftLength( } bool isWithinLanes( - const lanelet::ConstLanelets & lanelets, std::shared_ptr & planner_data) + const lanelet::ConstLanelets & lanelets, const std::shared_ptr & planner_data) { const auto & rh = planner_data->route_handler; const auto & ego_pose = planner_data->self_odometry->pose.pose; From cfb74c7ef1c3970acfcc2bae7ecec1a974983da3 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Fri, 19 Jul 2024 12:56:25 +0900 Subject: [PATCH 239/306] feat(static_obstacle_avoidance): enable force execution under unsafe conditions (#8094) * add force execution for static obstacle avoidance Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * erase unused function in RTC interface Signed-off-by: Go Sakayori * refactor with lamda function Signed-off-by: Go Sakayori * fix rtc_interface Signed-off-by: Go Sakayori * add warn throtthle and move code block Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../autoware/rtc_interface/rtc_interface.hpp | 1 + .../src/rtc_interface.cpp | 23 +++++++++++ .../scene.hpp | 23 +++++++++-- .../src/scene.cpp | 39 +++++++++++++++++++ 4 files changed, 82 insertions(+), 4 deletions(-) diff --git a/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp b/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp index 62f9a55c75455..d34c890ab1ce1 100644 --- a/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp +++ b/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp @@ -59,6 +59,7 @@ class RTCInterface void removeExpiredCooperateStatus(); void clearCooperateStatus(); bool isActivated(const UUID & uuid) const; + bool isForceActivated(const UUID & uuid) const; bool isRegistered(const UUID & uuid) const; bool isRTCEnabled(const UUID & uuid) const; void lockCommandUpdate(); diff --git a/planning/autoware_rtc_interface/src/rtc_interface.cpp b/planning/autoware_rtc_interface/src/rtc_interface.cpp index 985e38b64f2bd..a426b198ef56f 100644 --- a/planning/autoware_rtc_interface/src/rtc_interface.cpp +++ b/planning/autoware_rtc_interface/src/rtc_interface.cpp @@ -317,6 +317,29 @@ bool RTCInterface::isActivated(const UUID & uuid) const return false; } +bool RTCInterface::isForceActivated(const UUID & uuid) const +{ + std::lock_guard lock(mutex_); + const auto itr = std::find_if( + registered_status_.statuses.begin(), registered_status_.statuses.end(), + [uuid](const auto & s) { return s.uuid == uuid; }); + + if (itr != registered_status_.statuses.end()) { + if (itr->state.type != State::WAITING_FOR_EXECUTION && itr->state.type != State::RUNNING) { + return false; + } + if (itr->command_status.type == Command::ACTIVATE && !itr->safe) { + return true; + } else { + return false; + } + } + + RCLCPP_WARN_STREAM( + getLogger(), "[isForceActivated] uuid : " << to_string(uuid) << " is not found" << std::endl); + return false; +} + bool RTCInterface::isRegistered(const UUID & uuid) const { std::lock_guard lock(mutex_); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp index 34d06a46d9ac8..87a4c91792649 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp @@ -118,8 +118,16 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface const double start_distance = autoware::motion_utils::calcSignedArcLength( path.points, ego_idx, left_shift.start_pose.position); const double finish_distance = start_distance + left_shift.relative_longitudinal; - rtc_interface_ptr_map_.at("left")->updateCooperateStatus( - left_shift.uuid, true, State::RUNNING, start_distance, finish_distance, clock_->now()); + + // If force activated keep safety to false + if (rtc_interface_ptr_map_.at("left")->isForceActivated(left_shift.uuid)) { + rtc_interface_ptr_map_.at("left")->updateCooperateStatus( + left_shift.uuid, false, State::RUNNING, start_distance, finish_distance, clock_->now()); + } else { + rtc_interface_ptr_map_.at("left")->updateCooperateStatus( + left_shift.uuid, true, State::RUNNING, start_distance, finish_distance, clock_->now()); + } + if (finish_distance > -1.0e-03) { steering_factor_interface_ptr_->updateSteeringFactor( {left_shift.start_pose, left_shift.finish_pose}, {start_distance, finish_distance}, @@ -131,8 +139,15 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface const double start_distance = autoware::motion_utils::calcSignedArcLength( path.points, ego_idx, right_shift.start_pose.position); const double finish_distance = start_distance + right_shift.relative_longitudinal; - rtc_interface_ptr_map_.at("right")->updateCooperateStatus( - right_shift.uuid, true, State::RUNNING, start_distance, finish_distance, clock_->now()); + + if (rtc_interface_ptr_map_.at("right")->isForceActivated(right_shift.uuid)) { + rtc_interface_ptr_map_.at("right")->updateCooperateStatus( + right_shift.uuid, false, State::RUNNING, start_distance, finish_distance, clock_->now()); + } else { + rtc_interface_ptr_map_.at("right")->updateCooperateStatus( + right_shift.uuid, true, State::RUNNING, start_distance, finish_distance, clock_->now()); + } + if (finish_distance > -1.0e-03) { steering_factor_interface_ptr_->updateSteeringFactor( {right_shift.start_pose, right_shift.finish_pose}, {start_distance, finish_distance}, diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index b5b9378618a60..d1b78dbd6a00a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -579,6 +579,45 @@ void StaticObstacleAvoidanceModule::fillEgoStatus( return; } + auto candidate_sl_force_activated = [&](const std::string & direction) { + // If statement to avoid unnecessary warning occurring from isForceActivated function + if (candidate_uuid_ == uuid_map_.at(direction)) { + if (rtc_interface_ptr_map_.at(direction)->isForceActivated(candidate_uuid_)) { + return true; + } + } + return false; + }; + + auto registered_sl_force_activated = + [&](const std::string & direction, const RegisteredShiftLineArray shift_line_array) { + return std::any_of( + shift_line_array.begin(), shift_line_array.end(), [&](const auto & shift_line) { + return rtc_interface_ptr_map_.at(direction)->isForceActivated(shift_line.uuid); + }); + }; + + /** + * Check if the candidate avoidance path is force activated + */ + if (candidate_sl_force_activated("left") || candidate_sl_force_activated("right")) { + data.yield_required = false; + data.safe_shift_line = data.new_shift_line; + return; + } + + /** + * Check if any registered shift line is force activated + */ + if ( + registered_sl_force_activated("left", left_shift_array_) || + registered_sl_force_activated("right", right_shift_array_)) { + data.yield_required = false; + data.safe_shift_line = data.new_shift_line; + RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "unsafe but force executed"); + return; + } + /** * If the yield maneuver is disabled, use unapproved_new_sl for avoidance path generation even if * the shift line is unsafe. From 25c33d370ae1554918f7f3537bda29c39d54b044 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 19 Jul 2024 13:05:09 +0900 Subject: [PATCH 240/306] refactor(traffic_light_occlusion_predictor): fix namespace and directory structure (#7971) refactor: add autoware on the namespace Signed-off-by: Taekjin LEE --- .../CMakeLists.txt | 10 +++---- .../src/{nodelet.cpp => node.cpp} | 29 ++++++++++--------- .../nodelet.hpp => src/node.hpp} | 17 ++++++----- .../src/occlusion_predictor.cpp | 11 +++---- .../occlusion_predictor.hpp | 10 +++---- 5 files changed, 40 insertions(+), 37 deletions(-) rename perception/traffic_light_occlusion_predictor/src/{nodelet.cpp => node.cpp} (92%) rename perception/traffic_light_occlusion_predictor/{include/traffic_light_occlusion_predictor/nodelet.hpp => src/node.hpp} (88%) rename perception/traffic_light_occlusion_predictor/{include/traffic_light_occlusion_predictor => src}/occlusion_predictor.hpp (92%) diff --git a/perception/traffic_light_occlusion_predictor/CMakeLists.txt b/perception/traffic_light_occlusion_predictor/CMakeLists.txt index 481561ed92be8..61d8d97b815e6 100644 --- a/perception/traffic_light_occlusion_predictor/CMakeLists.txt +++ b/perception/traffic_light_occlusion_predictor/CMakeLists.txt @@ -13,18 +13,18 @@ include_directories( ${PCL_INCLUDE_DIRS} ) -ament_auto_add_library(traffic_light_occlusion_predictor SHARED - src/nodelet.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/node.cpp src/occlusion_predictor.cpp ) -rclcpp_components_register_node(traffic_light_occlusion_predictor - PLUGIN "traffic_light::TrafficLightOcclusionPredictorNodelet" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::traffic_light::TrafficLightOcclusionPredictorNode" EXECUTABLE traffic_light_occlusion_predictor_node ) link_directories(${PCL_LIBRARY_DIRS}) -target_link_libraries(traffic_light_occlusion_predictor ${PCL_LIBRARIES}) +target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES}) ament_auto_package(INSTALL_TO_SHARE config diff --git a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp b/perception/traffic_light_occlusion_predictor/src/node.cpp similarity index 92% rename from perception/traffic_light_occlusion_predictor/src/nodelet.cpp rename to perception/traffic_light_occlusion_predictor/src/node.cpp index bc668c6af6c3c..8bc11fdea2aad 100644 --- a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp +++ b/perception/traffic_light_occlusion_predictor/src/node.cpp @@ -12,8 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_occlusion_predictor/nodelet.hpp" +#define EIGEN_MPL2_ONLY + +#include "node.hpp" +#include +#include #include #include #include @@ -30,16 +34,13 @@ #include #include #include +#include #include -#define EIGEN_MPL2_ONLY -#include -#include - -namespace traffic_light +namespace autoware::traffic_light { -TrafficLightOcclusionPredictorNodelet::TrafficLightOcclusionPredictorNodelet( +TrafficLightOcclusionPredictorNode::TrafficLightOcclusionPredictorNode( const rclcpp::NodeOptions & node_options) : Node("traffic_light_occlusion_predictor_node", node_options), tf_buffer_(this->get_clock()), @@ -53,7 +54,7 @@ TrafficLightOcclusionPredictorNodelet::TrafficLightOcclusionPredictorNodelet( // subscribers map_sub_ = create_subscription( "~/input/vector_map", rclcpp::QoS{1}.transient_local(), - std::bind(&TrafficLightOcclusionPredictorNodelet::mapCallback, this, _1)); + std::bind(&TrafficLightOcclusionPredictorNode::mapCallback, this, _1)); // publishers signal_pub_ = @@ -79,7 +80,7 @@ TrafficLightOcclusionPredictorNodelet::TrafficLightOcclusionPredictorNodelet( synchronizer_ = std::make_shared( this, topics, qos, std::bind( - &TrafficLightOcclusionPredictorNodelet::syncCallback, this, _1, _2, _3, _4, + &TrafficLightOcclusionPredictorNode::syncCallback, this, _1, _2, _3, _4, tier4_perception_msgs::msg::TrafficLightRoi::CAR_TRAFFIC_LIGHT), config_.max_image_cloud_delay, config_.max_wait_t); @@ -89,14 +90,14 @@ TrafficLightOcclusionPredictorNodelet::TrafficLightOcclusionPredictorNodelet( synchronizer_ped_ = std::make_shared( this, topics_ped, qos_ped, std::bind( - &TrafficLightOcclusionPredictorNodelet::syncCallback, this, _1, _2, _3, _4, + &TrafficLightOcclusionPredictorNode::syncCallback, this, _1, _2, _3, _4, tier4_perception_msgs::msg::TrafficLightRoi::PEDESTRIAN_TRAFFIC_LIGHT), config_.max_image_cloud_delay, config_.max_wait_t); subscribed_.resize(2, false); } -void TrafficLightOcclusionPredictorNodelet::mapCallback( +void TrafficLightOcclusionPredictorNode::mapCallback( const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr input_msg) { traffic_light_position_map_.clear(); @@ -121,7 +122,7 @@ void TrafficLightOcclusionPredictorNodelet::mapCallback( } } -void TrafficLightOcclusionPredictorNodelet::syncCallback( +void TrafficLightOcclusionPredictorNode::syncCallback( const tier4_perception_msgs::msg::TrafficLightArray::ConstSharedPtr in_signal_msg, const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr in_roi_msg, const sensor_msgs::msg::CameraInfo::ConstSharedPtr in_cam_info_msg, @@ -184,7 +185,7 @@ void TrafficLightOcclusionPredictorNodelet::syncCallback( std::fill(subscribed_.begin(), subscribed_.end(), false); } } -} // namespace traffic_light +} // namespace autoware::traffic_light #include -RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::TrafficLightOcclusionPredictorNodelet) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::TrafficLightOcclusionPredictorNode) diff --git a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp b/perception/traffic_light_occlusion_predictor/src/node.hpp similarity index 88% rename from perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp rename to perception/traffic_light_occlusion_predictor/src/node.hpp index 3cd270adf9383..5ee4876a6abbf 100644 --- a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp +++ b/perception/traffic_light_occlusion_predictor/src/node.hpp @@ -12,12 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__NODELET_HPP_ -#define TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__NODELET_HPP_ +#ifndef NODE_HPP_ +#define NODE_HPP_ + +#include "occlusion_predictor.hpp" #include #include -#include #include #include @@ -44,12 +45,12 @@ #include #include -namespace traffic_light +namespace autoware::traffic_light { -class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node +class TrafficLightOcclusionPredictorNode : public rclcpp::Node { public: - explicit TrafficLightOcclusionPredictorNodelet(const rclcpp::NodeOptions & node_options); + explicit TrafficLightOcclusionPredictorNode(const rclcpp::NodeOptions & node_options); private: struct Config @@ -108,5 +109,5 @@ class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node std::vector occlusion_ratios_; tier4_perception_msgs::msg::TrafficLightArray out_msg_; }; -} // namespace traffic_light -#endif // TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__NODELET_HPP_ +} // namespace autoware::traffic_light +#endif // NODE_HPP_ diff --git a/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp index 40e50aabf3c17..74878ba0b93af 100644 --- a/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp +++ b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp @@ -13,14 +13,15 @@ // limitations under the License. // -#include "traffic_light_occlusion_predictor/occlusion_predictor.hpp" +#include "occlusion_predictor.hpp" +#include namespace { -traffic_light::Ray point2ray(const pcl::PointXYZ & pt) +autoware::traffic_light::Ray point2ray(const pcl::PointXYZ & pt) { - traffic_light::Ray ray; + autoware::traffic_light::Ray ray; ray.dist = std::sqrt(pt.x * pt.x + pt.y * pt.y + pt.z * pt.z); ray.elevation = RAD2DEG(std::atan2(pt.y, std::hypot(pt.x, pt.z))); ray.azimuth = RAD2DEG(std::atan2(pt.x, pt.z)); @@ -29,7 +30,7 @@ traffic_light::Ray point2ray(const pcl::PointXYZ & pt) } // namespace -namespace traffic_light +namespace autoware::traffic_light { CloudOcclusionPredictor::CloudOcclusionPredictor( @@ -253,4 +254,4 @@ uint32_t CloudOcclusionPredictor::predict( return 100 * occluded_num / tl_sample_cloud.size(); } -} // namespace traffic_light +} // namespace autoware::traffic_light diff --git a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.hpp similarity index 92% rename from perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp rename to perception/traffic_light_occlusion_predictor/src/occlusion_predictor.hpp index 066f438a9544f..435ee478eea22 100644 --- a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp +++ b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.hpp @@ -13,8 +13,8 @@ // limitations under the License. // -#ifndef TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__OCCLUSION_PREDICTOR_HPP_ -#define TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__OCCLUSION_PREDICTOR_HPP_ +#ifndef OCCLUSION_PREDICTOR_HPP_ +#define OCCLUSION_PREDICTOR_HPP_ #include #include @@ -43,7 +43,7 @@ #include #include -namespace traffic_light +namespace autoware::traffic_light { struct Ray @@ -93,6 +93,6 @@ class CloudOcclusionPredictor float elevation_occlusion_resolution_deg_; }; -} // namespace traffic_light +} // namespace autoware::traffic_light -#endif // TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__OCCLUSION_PREDICTOR_HPP_ +#endif // OCCLUSION_PREDICTOR_HPP_ From 6e6fc7737eb2eb5af4c40f8afd04d22f8f5e3263 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 13:42:21 +0900 Subject: [PATCH 241/306] fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (#8020) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- planning/autoware_surround_obstacle_checker/src/node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp index e0bcf771948ca..b559e159a78ec 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.hpp +++ b/planning/autoware_surround_obstacle_checker/src/node.hpp @@ -103,7 +103,7 @@ class SurroundObstacleCheckerNode : public rclcpp::Node const std::string & source, const std::string & target, const rclcpp::Time & stamp, double duration_sec) const; - bool isStopRequired(const bool is_obstacle_found, const bool is_stopped); + bool isStopRequired(const bool is_obstacle_found, const bool is_vehicle_stopped); // ros mutable tf2_ros::Buffer tf_buffer_{get_clock()}; From 553a3b5165d8ed6e2c3a21432bfa0cdf67446f6d Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 13:44:27 +0900 Subject: [PATCH 242/306] fix(autoware_surround_obstacle_checker): fix constVariableReference (#8059) fix:constVariableReference Signed-off-by: kobayu858 --- planning/autoware_surround_obstacle_checker/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp index 9c899c2226497..cac609f882272 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.cpp +++ b/planning/autoware_surround_obstacle_checker/src/node.cpp @@ -506,7 +506,7 @@ std::optional SurroundObstacleCheckerNode: try { transform_stamped = tf_buffer_.lookupTransform(source, target, stamp, tf2::durationFromSec(duration_sec)); - } catch (tf2::TransformException & ex) { + } catch (const tf2::TransformException & ex) { return {}; } From 55ade4b36dcc59178b97d0fa234e9a5da01c8c97 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 19 Jul 2024 15:58:01 +0900 Subject: [PATCH 243/306] refactor(multi_object_tracker): bring parameter schema to new package folder (#8105) refactor: bring parameter schema to new package folder Signed-off-by: Taekjin LEE --- .../schema/data_association_matrix.schema.json | 0 .../schema/input_channels.schema.json | 0 .../schema/multi_object_tracker_node.schema.json | 0 .../schema/simulation_tracker.schema.json | 0 4 files changed, 0 insertions(+), 0 deletions(-) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/schema/data_association_matrix.schema.json (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/schema/input_channels.schema.json (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/schema/multi_object_tracker_node.schema.json (100%) rename perception/{multi_object_tracker => autoware_multi_object_tracker}/schema/simulation_tracker.schema.json (100%) diff --git a/perception/multi_object_tracker/schema/data_association_matrix.schema.json b/perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json similarity index 100% rename from perception/multi_object_tracker/schema/data_association_matrix.schema.json rename to perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json diff --git a/perception/multi_object_tracker/schema/input_channels.schema.json b/perception/autoware_multi_object_tracker/schema/input_channels.schema.json similarity index 100% rename from perception/multi_object_tracker/schema/input_channels.schema.json rename to perception/autoware_multi_object_tracker/schema/input_channels.schema.json diff --git a/perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json b/perception/autoware_multi_object_tracker/schema/multi_object_tracker_node.schema.json similarity index 100% rename from perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json rename to perception/autoware_multi_object_tracker/schema/multi_object_tracker_node.schema.json diff --git a/perception/multi_object_tracker/schema/simulation_tracker.schema.json b/perception/autoware_multi_object_tracker/schema/simulation_tracker.schema.json similarity index 100% rename from perception/multi_object_tracker/schema/simulation_tracker.schema.json rename to perception/autoware_multi_object_tracker/schema/simulation_tracker.schema.json From 0c1297029eebf7aa678f4fdb720b584044a1bba7 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 19 Jul 2024 16:31:38 +0900 Subject: [PATCH 244/306] fix(control_validator): fix param names and doc (#8104) * fix Signed-off-by: Yuki Takagi --- control/autoware_control_validator/README.md | 9 +++++---- .../autoware_control_validator/src/control_validator.cpp | 4 ++-- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/control/autoware_control_validator/README.md b/control/autoware_control_validator/README.md index 850eefb706c9a..2ace3a403c073 100644 --- a/control/autoware_control_validator/README.md +++ b/control/autoware_control_validator/README.md @@ -8,10 +8,11 @@ The `control_validator` is a module that checks the validity of the output of th The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation. -| Description | Arguments | Diagnostic equation | Implemented function name | -| ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- | :--------------------------------: | ------------------------------- | -| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and threshold velocity parameter $k$ | $v\hat{v}<0,~\|v\|>k $ | `checkValidVelocityDeviation()` | -| Overspeed: Measured speed exceeds target speed significantly. | measured velocity $v$, target velocity $\hat{v}$, and threshold ratio parameter $r$ | $\| v \| > (1 + r) \| \hat{v} \| $ | `checkValidVelocityDeviation()` | + +| Description | Arguments | Diagnostic equation | Implemented function name | +| ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- | :-----------------------------------------------: | ------------------------------- | +| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and threshold velocity parameter $k$ | $v \hat{v} < 0, \quad \lvert v \rvert > k$ | `checkValidVelocityDeviation()` | +| Overspeed: Measured speed exceeds target speed significantly. | measured velocity $v$, target velocity $\hat{v}$, and threshold ratio parameter $r$ | $\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert$ | `checkValidVelocityDeviation()` | - **Deviation check between reference trajectory and predicted trajectory** : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold. diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index d2106daf19f81..e5696e3c87afb 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -53,8 +53,8 @@ void ControlValidator::setupParameters() auto & p = validation_params_; const std::string t = "thresholds."; p.max_distance_deviation_threshold = declare_parameter(t + "max_distance_deviation"); - p.max_reverse_velocity_threshold = declare_parameter(t + "reverse_velocity"); - p.max_over_velocity_ratio_threshold = declare_parameter(t + "over_velocity_ratio"); + p.max_reverse_velocity_threshold = declare_parameter(t + "max_reverse_velocity"); + p.max_over_velocity_ratio_threshold = declare_parameter(t + "max_over_velocity_ratio"); } try { From b908b66ea874b27197480fdf3b859eca49f9f71d Mon Sep 17 00:00:00 2001 From: Giovanni Muhammad Raditya Date: Fri, 19 Jul 2024 16:32:12 +0900 Subject: [PATCH 245/306] feat(carla_autoware): add interface to easily use CARLA with Autoware (#6859) Signed-off-by: mraditya01 Signed-off-by: Maxime CLEMENT Co-authored-by: Minsu Kim --- .../autoware_carla_interface/CMakeLists.txt | 31 + simulator/autoware_carla_interface/README.md | 161 ++++ .../calibration_maps/accel_map.csv | 7 + .../calibration_maps/brake_map.csv | 10 + .../calibration_maps/steer_map.csv | 4 + .../config/objects.json | 62 ++ .../raw_vehicle_cmd_converter.param.yaml | 28 + .../autoware_carla_interface.launch.xml | 50 + .../autoware_carla_interface/package.xml | 29 + .../resource/carla_autoware | 0 simulator/autoware_carla_interface/setup.cfg | 4 + simulator/autoware_carla_interface/setup.py | 33 + .../carla_autoware.py | 195 ++++ .../src/autoware_carla_interface/carla_ros.py | 486 ++++++++++ .../modules/carla_data_provider.py | 867 ++++++++++++++++++ .../modules/carla_utils.py | 109 +++ .../modules/carla_wrapper.py | 231 +++++ 17 files changed, 2307 insertions(+) create mode 100644 simulator/autoware_carla_interface/CMakeLists.txt create mode 100644 simulator/autoware_carla_interface/README.md create mode 100644 simulator/autoware_carla_interface/calibration_maps/accel_map.csv create mode 100644 simulator/autoware_carla_interface/calibration_maps/brake_map.csv create mode 100644 simulator/autoware_carla_interface/calibration_maps/steer_map.csv create mode 100644 simulator/autoware_carla_interface/config/objects.json create mode 100644 simulator/autoware_carla_interface/config/raw_vehicle_cmd_converter.param.yaml create mode 100644 simulator/autoware_carla_interface/launch/autoware_carla_interface.launch.xml create mode 100644 simulator/autoware_carla_interface/package.xml create mode 100644 simulator/autoware_carla_interface/resource/carla_autoware create mode 100644 simulator/autoware_carla_interface/setup.cfg create mode 100644 simulator/autoware_carla_interface/setup.py create mode 100644 simulator/autoware_carla_interface/src/autoware_carla_interface/carla_autoware.py create mode 100644 simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py create mode 100644 simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_data_provider.py create mode 100644 simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_utils.py create mode 100644 simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_wrapper.py diff --git a/simulator/autoware_carla_interface/CMakeLists.txt b/simulator/autoware_carla_interface/CMakeLists.txt new file mode 100644 index 0000000000000..d643b9dad45fe --- /dev/null +++ b/simulator/autoware_carla_interface/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.8) +project(autoware_carla_interface) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package( + catkin REQUIRED COMPONENTS std_msgs) + + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +ament_export_dependencies(rclpy) + +find_package(ros_environment REQUIRED) +set(ROS_VERSION $ENV{ROS_VERSION}) + + +# Install launch files. +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/) + + +ament_auto_package( + launch + resource + config + src +) +ament_package() diff --git a/simulator/autoware_carla_interface/README.md b/simulator/autoware_carla_interface/README.md new file mode 100644 index 0000000000000..a44cb4708b5c3 --- /dev/null +++ b/simulator/autoware_carla_interface/README.md @@ -0,0 +1,161 @@ +# autoware_carla_interface + +## ROS 2/Autoware.universe bridge for CARLA simulator + +Thanks to for ROS 2 Humble support for CARLA Communication. +This ros package enables communication between Autoware and CARLA for autonomous driving simulation. + +## Supported Environment + +| ubuntu | ros | carla | autoware | +| :----: | :----: | :----: | :------: | +| 22.04 | humble | 0.9.15 | Main | + +## Setup + +### Install + +- [CARLA Installation](https://carla.readthedocs.io/en/latest/start_quickstart/) +- [Carla Lanelet2 Maps](https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/) +- [Python Package for CARLA 0.9.15 ROS 2 Humble communication](https://github.com/gezp/carla_ros/releases/tag/carla-0.9.15-ubuntu-22.04) + + - Install the wheel using pip. + - OR add the egg file to the `PYTHONPATH`. + +1. Download maps (y-axis inverted version) to arbitrary location +2. Change names and create the map folder (example: Town01) inside `autoware_map`. (`point_cloud/Town01.pcd` -> `autoware_map/Town01/pointcloud_map.pcd`, `vector_maps/lanelet2/Town01.osm`-> `autoware_map/Town01/lanelet2_map.osm`) +3. Create `map_projector_info.yaml` on the folder and add `projector_type: local` on the first line. + +### Build + +```bash +colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release +``` + +### Run + +1. Run carla, change map, spawn object if you need + + + ```bash + cd CARLA + ./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen + ``` + +2. Run ros nodes + + ```bash + ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01 + ``` + +3. Set initial pose (Init by GNSS) +4. Set goal position +5. Wait for planning +6. Engage + +## Inner-workings / Algorithms + +The `InitializeInterface` class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the `autoware_carla_interface.launch.xml`. + +The main simulation loop runs within the `carla_ros2_interface` class. This loop ticks simulation time inside the CARLA simulator at `fixed_delta_seconds` time, where data is received and published as ROS 2 messages at frequencies defined in `self.sensor_frequencies`. + +Ego vehicle commands from Autoware are processed through the `autoware_raw_vehicle_cmd_converter`, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via `CarlaDataProvider`. + +### Configurable Parameters for World Loading + +All the key parameters can be configured in `autoware_carla_interface.launch.xml`. + +| Name | Type | Default Value | Description | +| ------------------------- | ------ | --------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `host` | string | "localhost" | Hostname for the CARLA server | +| `port` | int | "2000" | Port number for the CARLA server | +| `timeout` | int | 20 | Timeout for the CARLA client | +| `ego_vehicle_role_name` | string | "ego_vehicle" | Role name for the ego vehicle | +| `vehicle_type` | string | "vehicle.toyota.prius" | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in [CARLA Blueprint ID](https://carla.readthedocs.io/en/latest/catalogue_vehicles/) | +| `spawn_point` | string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] | +| `carla_map` | string | "Town01" | Name of the map to load in CARLA | +| `sync_mode` | bool | True | Boolean flag to set synchronous mode in CARLA | +| `fixed_delta_seconds` | double | 0.05 | Time step for the simulation (related to client FPS) | +| `objects_definition_file` | string | "$(find-pkg-share autoware_carla_interface)/objects.json" | Sensor parameters file that are used for spawning sensor in CARLA | +| `use_traffic_manager` | bool | True | Boolean flag to set traffic manager in CARLA | +| `max_real_delta_seconds` | double | 0.05 | Parameter to limit the simulation speed below `fixed_delta_seconds` | +| `config_file` | string | "$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml" | Control mapping file to be used in `autoware_raw_vehicle_cmd_converter`. Current control are calibrated based on `vehicle.toyota.prius` Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. | + +### Configurable Parameters for Sensors + +Below parameters can be configured in `carla_ros.py`. + +| Name | Type | Default Value | Description | +| ------------------------- | ---- | -------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `self.sensor_frequencies` | dict | {"top": 11, "left": 11, "right": 11, "camera": 11, "imu": 50, "status": 50, "pose": 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. | + +- CARLA sensor parameters can be configured in `config/objects.json`. + - For more details regarding the parameters that can be modified in CARLA are explained in [Carla Ref Sensor](https://carla.readthedocs.io/en/latest/ref_sensors/). + +### World Loading + +The `carla_ros.py` sets up the CARLA world: + +1. **Client Connection**: + + ```python + client = carla.Client(self.local_host, self.port) + client.set_timeout(self.timeout) + ``` + +2. **Load the Map**: + + Map loaded in CARLA world with map according to `carla_map` parameter. + + ```python + client.load_world(self.map_name) + self.world = client.get_world() + ``` + +3. **Spawn Ego Vehicle**: + + Vehicle are spawn according to `vehicle_type`, `spawn_point`, and `agent_role_name` parameter. + + ```python + spawn_point = carla.Transform() + point_items = self.spawn_point.split(",") + if len(point_items) == 6: + spawn_point.location.x = float(point_items[0]) + spawn_point.location.y = float(point_items[1]) + spawn_point.location.z = float(point_items[2]) + 2 + spawn_point.rotation.roll = float(point_items[3]) + spawn_point.rotation.pitch = float(point_items[4]) + spawn_point.rotation.yaw = float(point_items[5]) + CarlaDataProvider.request_new_actor(self.vehicle_type, spawn_point, self.agent_role_name) + ``` + +## Traffic Light Recognition + +The maps provided by the Carla Simulator ([Carla Lanelet2 Maps](https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/)) currently lack proper traffic light components for Autoware and have different latitude and longitude coordinates compared to the pointcloud map. To enable traffic light recognition, follow the steps below to modify the maps. + +- Options to Modify the Map + + - A. Create a New Map from Scratch + - Use the [Tier4 Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/) to create a new map. + + - B. Modify the Existing Carla Lanelet2 Maps + - Adjust the longitude and latitude of the [Carla Lanelet2 Maps](https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/) to align with the PCD (origin). + - Use this [tool](https://github.com/mraditya01/offset_lanelet2/tree/main) to modify the coordinates. + - Snap Lanelet with PCD and add the traffic lights using the [Tier4 Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/). + +- When using the Tier4 Vector Map Builder, you must convert the PCD format from `binary_compressed` to `ascii`. You can use `pcl_tools` for this conversion. +- For reference, an example of Town01 with added traffic lights at one intersection can be downloaded [here](https://drive.google.com/drive/folders/1QFU0p3C8NW71sT5wwdnCKXoZFQJzXfTG?usp=sharing). + +## Tips + +- Misalignment might occurs during initialization, pressing `init by gnss` button should fix it. +- Changing the `fixed_delta_seconds` can increase the simulation tick (default 0.05 s), some sensors params in `objects.json` need to be adjusted when it is changed (example: LIDAR rotation frequency have to match the FPS). + +## Known Issues and Future Works + +- Testing on procedural map (Adv Digital Twin). + - Currently unable to test it due to failing in the creation of the Adv digital twin map. +- Automatic sensor configuration of the CARLA sensors from the Autoware sensor kit. + - Sensor currently not automatically configured to have the same location as the Autoware Sensor kit. The current work around is to create a new frame of each sensors with (0, 0, 0, 0, 0, 0) coordinate relative to base_link and attach each sensor on the new frame (`autoware_carla_interface.launch.xml` Line 28). This work around is very limited and restrictive, as when the sensor_kit is changed the sensor location will be wrongly attached. +- Traffic light recognition. + - Currently the HDmap of CARLA did not have information regarding the traffic light which is necessary for Autoware to conduct traffic light recognition. diff --git a/simulator/autoware_carla_interface/calibration_maps/accel_map.csv b/simulator/autoware_carla_interface/calibration_maps/accel_map.csv new file mode 100644 index 0000000000000..18718c31df87e --- /dev/null +++ b/simulator/autoware_carla_interface/calibration_maps/accel_map.csv @@ -0,0 +1,7 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.090,-0.204,-0.490,-0.490,-0.491,-0.492,-0.493,-0.494,-0.495,-0.496,-0.500 +0.100,0.167,0.166,-0.093,-0.243,-0.244,-0.245,-0.246,-0.247,-0.248,-0.249,-0.280 +0.200,0.941,0.464,0.186,0.004,-0.100,-0.101,-0.102,-0.103,-0.104,-0.105,-0.106 +0.300,1.747,1.332,0.779,0.778,0.777,0.776,0.775,0.774,0.720,0.640,0.580 +0.400,2.650,2.480,2.300,2.130,1.950,1.750,1.580,1.450,1.320,1.200,1.100 +0.500,3.300,3.250,3.120,2.920,2.680,2.350,2.170,1.980,1.880,1.730,1.610 diff --git a/simulator/autoware_carla_interface/calibration_maps/brake_map.csv b/simulator/autoware_carla_interface/calibration_maps/brake_map.csv new file mode 100644 index 0000000000000..62b18b45bd415 --- /dev/null +++ b/simulator/autoware_carla_interface/calibration_maps/brake_map.csv @@ -0,0 +1,10 @@ +default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89 +0,0.090,-0.204,-0.490,-0.490,-0.491,-0.492,-0.493,-0.494,-0.495,-0.496,-0.500 +0.100,0.089,-0.226,-0.535,-0.536,-0.537,-0.538,-0.539,-0.540,-0.541,-0.542,-0.543 +0.200,-0.380,-0.414,-0.746,-0.800,-0.820,-0.850,-0.870,-0.890,-0.910,-0.940,-0.960 +0.300,-1.000,-1.040,-1.480,-1.550,-1.570,-1.590,-1.610,-1.630,-1.631,-1.632,-1.633 +0.400,-1.480,-1.500,-1.850,-2.050,-2.100,-2.101,-2.102,-2.103,-2.104,-2.105,-2.106 +0.500,-1.490,-1.510,-1.860,-2.060,-2.110,-2.111,-2.112,-2.113,-2.114,-2.115,-2.116 +0.600,-1.500,-1.520,-1.870,-2.070,-2.120,-2.121,-2.122,-2.123,-2.124,-2.125,-2.126 +0.700,-1.510,-1.530,-1.880,-2.080,-2.130,-2.131,-2.132,-2.133,-2.134,-2.135,-2.136 +0.800,-2.180,-2.200,-2.700,-2.800,-2.900,-2.950,-2.951,-2.952,-2.953,-2.954,-2.955 diff --git a/simulator/autoware_carla_interface/calibration_maps/steer_map.csv b/simulator/autoware_carla_interface/calibration_maps/steer_map.csv new file mode 100644 index 0000000000000..077efb9f9e200 --- /dev/null +++ b/simulator/autoware_carla_interface/calibration_maps/steer_map.csv @@ -0,0 +1,4 @@ +default,-10,0,10 +-1,-0.9,-0.9,-0.9 +0,0,0,0 +1,0.9,0.9,0.9 diff --git a/simulator/autoware_carla_interface/config/objects.json b/simulator/autoware_carla_interface/config/objects.json new file mode 100644 index 0000000000000..7103118937548 --- /dev/null +++ b/simulator/autoware_carla_interface/config/objects.json @@ -0,0 +1,62 @@ +{ + "sensors": [ + { + "type": "sensor.camera.rgb", + "id": "rgb_front", + "spawn_point": { + "x": 0.7, + "y": 0.0, + "z": 1.6, + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0 + }, + "image_size_x": 1920, + "image_size_y": 1080, + "fov": 90.0 + }, + { + "type": "sensor.lidar.ray_cast", + "id": "top", + "spawn_point": { + "x": 0.0, + "y": 0.0, + "z": 3.1, + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0 + }, + "range": 100, + "channels": 64, + "points_per_second": 300000, + "upper_fov": 10.0, + "lower_fov": -30.0, + "rotation_frequency": 20, + "noise_stddev": 0.0 + }, + { + "type": "sensor.other.gnss", + "id": "gnss", + "spawn_point": { + "x": 0.0, + "y": 0.0, + "z": 1.6, + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0 + } + }, + { + "type": "sensor.other.imu", + "id": "imu", + "spawn_point": { + "x": 0.0, + "y": 0.0, + "z": 1.6, + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0 + } + } + ] +} diff --git a/simulator/autoware_carla_interface/config/raw_vehicle_cmd_converter.param.yaml b/simulator/autoware_carla_interface/config/raw_vehicle_cmd_converter.param.yaml new file mode 100644 index 0000000000000..cb604bc686075 --- /dev/null +++ b/simulator/autoware_carla_interface/config/raw_vehicle_cmd_converter.param.yaml @@ -0,0 +1,28 @@ +/**: + ros__parameters: + csv_path_accel_map: $(find-pkg-share autoware_carla_interface)/accel_map.csv + csv_path_brake_map: $(find-pkg-share autoware_carla_interface)/brake_map.csv + csv_path_steer_map: $(find-pkg-share autoware_carla_interface)/steer_map.csv + convert_accel_cmd: true + convert_brake_cmd: true + convert_steer_cmd: false + use_steer_ff: true + use_steer_fb: true + is_debugging: false + max_throttle: 0.4 + max_brake: 0.8 + max_steer: 1.0 + min_steer: -1.0 + steer_pid: + kp: 150.0 + ki: 15.0 + kd: 0.0 + max: 8.0 + min: -8.0 + max_p: 8.0 + min_p: -8.0 + max_i: 8.0 + min_i: -8.0 + max_d: 0.0 + min_d: 0.0 + invalid_integration_decay: 0.97 diff --git a/simulator/autoware_carla_interface/launch/autoware_carla_interface.launch.xml b/simulator/autoware_carla_interface/launch/autoware_carla_interface.launch.xml new file mode 100644 index 0000000000000..bdef2563777fc --- /dev/null +++ b/simulator/autoware_carla_interface/launch/autoware_carla_interface.launch.xml @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulator/autoware_carla_interface/package.xml b/simulator/autoware_carla_interface/package.xml new file mode 100644 index 0000000000000..136138a0101b0 --- /dev/null +++ b/simulator/autoware_carla_interface/package.xml @@ -0,0 +1,29 @@ + + + autoware_carla_interface + 0.0.0 + The carla autoware bridge package + Muhammad Raditya GIOVANNI + Maxime CLEMENT + Apache License 2.0 + + std_msgs + autoware_perception_msgs + autoware_vehicle_msgs + geometry_msgs + rclpy + sensor_msgs + sensor_msgs_py + tf2 + tf2_ros + tier4_vehicle_msgs + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_python + + diff --git a/simulator/autoware_carla_interface/resource/carla_autoware b/simulator/autoware_carla_interface/resource/carla_autoware new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/simulator/autoware_carla_interface/setup.cfg b/simulator/autoware_carla_interface/setup.cfg new file mode 100644 index 0000000000000..c749fdbef61a2 --- /dev/null +++ b/simulator/autoware_carla_interface/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/autoware_carla_interface +[install] +install_scripts=$base/lib/autoware_carla_interface diff --git a/simulator/autoware_carla_interface/setup.py b/simulator/autoware_carla_interface/setup.py new file mode 100644 index 0000000000000..f4bf37db01fb9 --- /dev/null +++ b/simulator/autoware_carla_interface/setup.py @@ -0,0 +1,33 @@ +from glob import glob +import os + +from setuptools import setup + +ROS_VERSION = int(os.environ["ROS_VERSION"]) + +package_name = "autoware_carla_interface" + +setup( + name=package_name, + version="0.0.0", + packages=[package_name], + data_files=[ + ("share/" + package_name, glob("config/*")), + ("share/" + package_name, glob("calibration_maps/*.csv")), + ("share/" + package_name, ["package.xml"]), + (os.path.join("share", package_name), glob("launch/autoware_carla_interface.launch.xml")), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="Muhammad Raditya GIOVANNI, Maxime CLEMENT", + maintainer_email="mradityagio@gmail.com, maxime.clement@tier4.jp", + description="CARLA ROS 2 bridge for AUTOWARE", + license="Apache License 2.0", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "autoware_carla_interface = autoware_carla_interface.carla_autoware:main" + ], + }, + package_dir={"": "src"}, +) diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_autoware.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_autoware.py new file mode 100644 index 0000000000000..b9c72d6c137d9 --- /dev/null +++ b/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_autoware.py @@ -0,0 +1,195 @@ +# Copyright 2024 Tier IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License.sr/bin/env python + +import random +import signal +import time + +import carla + +from .carla_ros import carla_ros2_interface +from .modules.carla_data_provider import CarlaDataProvider +from .modules.carla_data_provider import GameTime +from .modules.carla_wrapper import SensorReceivedNoData +from .modules.carla_wrapper import SensorWrapper + + +class SensorLoop(object): + def __init__(self): + self.start_game_time = None + self.start_system_time = None + self.sensor = None + self.ego_actor = None + self.running = False + self.timestamp_last_run = 0.0 + self.timeout = 20.0 + + def _stop_loop(self): + self.running = False + + def _tick_sensor(self, timestamp): + if self.timestamp_last_run < timestamp.elapsed_seconds and self.running: + self.timestamp_last_run = timestamp.elapsed_seconds + GameTime.on_carla_tick(timestamp) + CarlaDataProvider.on_carla_tick() + try: + ego_action = self.sensor() + except SensorReceivedNoData as e: + raise RuntimeError(e) + self.ego_actor.apply_control(ego_action) + if self.running: + CarlaDataProvider.get_world().tick() + + +class InitializeInterface(object): + def __init__(self): + self.interface = carla_ros2_interface() + self.param_ = self.interface.get_param() + self.world = None + self.sensor_wrapper = None + self.ego_actor = None + self.prev_tick_wall_time = 0.0 + + # Parameter for Initializing Carla World + self.local_host = self.param_["host"] + self.port = self.param_["port"] + self.timeout = self.param_["timeout"] + self.sync_mode = self.param_["sync_mode"] + self.fixed_delta_seconds = self.param_["fixed_delta_seconds"] + self.carla_map = self.param_["carla_map"] + self.agent_role_name = self.param_["ego_vehicle_role_name"] + self.vehicle_type = self.param_["vehicle_type"] + self.spawn_point = self.param_["spawn_point"] + self.use_traffic_manager = self.param_["use_traffic_manager"] + self.max_real_delta_seconds = self.param_["max_real_delta_seconds"] + + def load_world(self): + client = carla.Client(self.local_host, self.port) + client.set_timeout(self.timeout) + client.load_world(self.carla_map) + self.world = client.get_world() + settings = self.world.get_settings() + settings.fixed_delta_seconds = self.fixed_delta_seconds + settings.synchronous_mode = self.sync_mode + self.world.apply_settings(settings) + CarlaDataProvider.set_world(self.world) + CarlaDataProvider.set_client(client) + spawn_point = carla.Transform() + point_items = self.spawn_point.split(",") + randomize = False + if len(point_items) == 6: + spawn_point.location.x = float(point_items[0]) + spawn_point.location.y = float(point_items[1]) + spawn_point.location.z = ( + float(point_items[2]) + 2 + ) # +2 is used so the car did not stuck on the road when spawned. + spawn_point.rotation.roll = float(point_items[3]) + spawn_point.rotation.pitch = float(point_items[4]) + spawn_point.rotation.yaw = float(point_items[5]) + else: + randomize = True + self.ego_actor = CarlaDataProvider.request_new_actor( + self.vehicle_type, spawn_point, self.agent_role_name, random_location=randomize + ) + self.interface.ego_actor = self.ego_actor # TODO improve design + self.interface.physics_control = self.ego_actor.get_physics_control() + + self.sensor_wrapper = SensorWrapper(self.interface) + self.sensor_wrapper.setup_sensors(self.ego_actor, False) + ########################################################################################################################################################## + # TRAFFIC MANAGER + ########################################################################################################################################################## + # cspell:ignore trafficmanager + if self.use_traffic_manager: + traffic_manager = client.get_trafficmanager() + traffic_manager.set_synchronous_mode(True) + traffic_manager.set_random_device_seed(0) + random.seed(0) + spawn_points_tm = self.world.get_map().get_spawn_points() + for i, spawn_point in enumerate(spawn_points_tm): + self.world.debug.draw_string(spawn_point.location, str(i), life_time=10) + models = [ + "dodge", + "audi", + "model3", + "mini", + "mustang", + "lincoln", + "prius", + "nissan", + "crown", + "impala", + ] + blueprints = [] + for vehicle in self.world.get_blueprint_library().filter("*vehicle*"): + if any(model in vehicle.id for model in models): + blueprints.append(vehicle) + max_vehicles = 30 + max_vehicles = min([max_vehicles, len(spawn_points_tm)]) + vehicles = [] + for i, spawn_point in enumerate(random.sample(spawn_points_tm, max_vehicles)): + temp = self.world.try_spawn_actor(random.choice(blueprints), spawn_point) + if temp is not None: + vehicles.append(temp) + + for vehicle in vehicles: + vehicle.set_autopilot(True) + + def run_bridge(self): + self.bridge_loop = SensorLoop() + self.bridge_loop.sensor = self.sensor_wrapper + self.bridge_loop.ego_actor = self.ego_actor + self.bridge_loop.start_system_time = time.time() + self.bridge_loop.start_game_time = GameTime.get_time() + self.bridge_loop.running = True + while self.bridge_loop.running: + timestamp = None + world = CarlaDataProvider.get_world() + if world: + snapshot = world.get_snapshot() + if snapshot: + timestamp = snapshot.timestamp + if timestamp: + delta_step = time.time() - self.prev_tick_wall_time + if delta_step <= self.max_real_delta_seconds: + # Add a wait to match the max_real_delta_seconds + time.sleep(self.max_real_delta_seconds - delta_step) + self.prev_tick_wall_time = time.time() + self.bridge_loop._tick_sensor(timestamp) + + def _stop_loop(self, sign, frame): + self.bridge_loop._stop_loop() + + def _cleanup(self): + self.sensor_wrapper.cleanup() + CarlaDataProvider.cleanup() + if self.ego_actor: + self.ego_actor.destroy() + self.ego_actor = None + + if self.interface: + self.interface.shutdown() + self.interface = None + + +def main(): + carla_bridge = InitializeInterface() + carla_bridge.load_world() + signal.signal(signal.SIGINT, carla_bridge._stop_loop) + carla_bridge.run_bridge() + carla_bridge._cleanup() + + +if __name__ == "__main__": + main() diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py new file mode 100644 index 0000000000000..a4f8dee7af1a0 --- /dev/null +++ b/simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py @@ -0,0 +1,486 @@ +# Copyright 2024 Tier IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License.sr/bin/env python + +import json +import math +import threading + +from autoware_vehicle_msgs.msg import ControlModeReport +from autoware_vehicle_msgs.msg import GearReport +from autoware_vehicle_msgs.msg import SteeringReport +from autoware_vehicle_msgs.msg import VelocityReport +from builtin_interfaces.msg import Time +import carla +from cv_bridge import CvBridge +from geometry_msgs.msg import Pose +from geometry_msgs.msg import PoseWithCovarianceStamped +import numpy +import rclpy +from rosgraph_msgs.msg import Clock +from sensor_msgs.msg import CameraInfo +from sensor_msgs.msg import Image +from sensor_msgs.msg import Imu +from sensor_msgs.msg import PointCloud2 +from sensor_msgs.msg import PointField +from std_msgs.msg import Header +from tier4_vehicle_msgs.msg import ActuationCommandStamped +from tier4_vehicle_msgs.msg import ActuationStatusStamped +from transforms3d.euler import euler2quat + +from .modules.carla_data_provider import GameTime +from .modules.carla_data_provider import datetime +from .modules.carla_utils import carla_location_to_ros_point +from .modules.carla_utils import carla_rotation_to_ros_quaternion +from .modules.carla_utils import create_cloud +from .modules.carla_utils import ros_pose_to_carla_transform +from .modules.carla_wrapper import SensorInterface + + +class carla_ros2_interface(object): + def __init__(self): + self.sensor_interface = SensorInterface() + self.timestamp = None + self.ego_actor = None + self.physics_control = None + self.channels = 0 + self.id_to_sensor_type_map = {} + self.id_to_camera_info_map = {} + self.cv_bridge = CvBridge() + self.first_ = True + self.pub_lidar = {} + self.sensor_frequencies = { + "top": 11, + "left": 11, + "right": 11, + "camera": 11, + "imu": 50, + "status": 50, + "pose": 2, + } + self.publish_prev_times = { + sensor: datetime.datetime.now() for sensor in self.sensor_frequencies + } + + # initialize ros2 node + rclpy.init(args=None) + self.ros2_node = rclpy.create_node("carla_ros2_interface") + self.parameters = { + "host": rclpy.Parameter.Type.STRING, + "port": rclpy.Parameter.Type.INTEGER, + "sync_mode": rclpy.Parameter.Type.BOOL, + "timeout": rclpy.Parameter.Type.INTEGER, + "fixed_delta_seconds": rclpy.Parameter.Type.DOUBLE, + "carla_map": rclpy.Parameter.Type.STRING, + "ego_vehicle_role_name": rclpy.Parameter.Type.STRING, + "spawn_point": rclpy.Parameter.Type.STRING, + "vehicle_type": rclpy.Parameter.Type.STRING, + "objects_definition_file": rclpy.Parameter.Type.STRING, + "use_traffic_manager": rclpy.Parameter.Type.BOOL, + "max_real_delta_seconds": rclpy.Parameter.Type.DOUBLE, + } + self.param_values = {} + for param_name, param_type in self.parameters.items(): + self.ros2_node.declare_parameter(param_name, param_type) + self.param_values[param_name] = self.ros2_node.get_parameter(param_name).value + + # Publish clock + self.clock_publisher = self.ros2_node.create_publisher(Clock, "/clock", 10) + obj_clock = Clock() + obj_clock.clock = Time(sec=0) + self.clock_publisher.publish(obj_clock) + + # Sensor Config (Edit your sensor here) + self.sensors = json.load(open(self.param_values["objects_definition_file"])) + + # Subscribing Autoware Control messages and converting to CARLA control + self.sub_control = self.ros2_node.create_subscription( + ActuationCommandStamped, "/control/command/actuation_cmd", self.control_callback, 1 + ) + + self.sub_vehicle_initialpose = self.ros2_node.create_subscription( + PoseWithCovarianceStamped, "initialpose", self.initialpose_callback, 1 + ) + + self.current_control = carla.VehicleControl() + + # Direct data publishing from CARLA for Autoware + self.pub_pose_with_cov = self.ros2_node.create_publisher( + PoseWithCovarianceStamped, "/sensing/gnss/pose_with_covariance", 1 + ) + self.pub_vel_state = self.ros2_node.create_publisher( + VelocityReport, "/vehicle/status/velocity_status", 1 + ) + self.pub_steering_state = self.ros2_node.create_publisher( + SteeringReport, "/vehicle/status/steering_status", 1 + ) + self.pub_ctrl_mode = self.ros2_node.create_publisher( + ControlModeReport, "/vehicle/status/control_mode", 1 + ) + self.pub_gear_state = self.ros2_node.create_publisher( + GearReport, "/vehicle/status/gear_status", 1 + ) + self.pub_actuation_status = self.ros2_node.create_publisher( + ActuationStatusStamped, "/vehicle/status/actuation_status", 1 + ) + + # Create Publisher for each Physical Sensors + for sensor in self.sensors["sensors"]: + self.id_to_sensor_type_map[sensor["id"]] = sensor["type"] + if sensor["type"] == "sensor.camera.rgb": + self.pub_camera = self.ros2_node.create_publisher( + Image, "/sensing/camera/traffic_light/image_raw", 1 + ) + self.pub_camera_info = self.ros2_node.create_publisher( + CameraInfo, "/sensing/camera/traffic_light/camera_info", 1 + ) + elif sensor["type"] == "sensor.lidar.ray_cast": + if sensor["id"] in self.sensor_frequencies: + self.pub_lidar[sensor["id"]] = self.ros2_node.create_publisher( + PointCloud2, f'/sensing/lidar/{sensor["id"]}/pointcloud', 10 + ) + else: + self.ros2_node.get_logger().info( + "Please use Top, Right, or Left as the LIDAR ID" + ) + elif sensor["type"] == "sensor.other.imu": + self.pub_imu = self.ros2_node.create_publisher( + Imu, "/sensing/imu/tamagawa/imu_raw", 1 + ) + else: + self.ros2_node.get_logger().info(f'No Publisher for {sensor["type"]} Sensor') + pass + + self.spin_thread = threading.Thread(target=rclpy.spin, args=(self.ros2_node,)) + self.spin_thread.start() + + def __call__(self): + input_data = self.sensor_interface.get_data() + timestamp = GameTime.get_time() + control = self.run_step(input_data, timestamp) + return control + + def get_param(self): + return self.param_values + + def checkFrequency(self, sensor): + time_delta = ( + datetime.datetime.now() - self.publish_prev_times[sensor] + ).microseconds / 1000000.0 + if 1.0 / time_delta >= self.sensor_frequencies[sensor]: + return True + return False + + def get_msg_header(self, frame_id): + """Obtain and modify ROS message header.""" + header = Header() + header.frame_id = frame_id + seconds = int(self.timestamp) + nanoseconds = int((self.timestamp - int(self.timestamp)) * 1000000000.0) + header.stamp = Time(sec=seconds, nanosec=nanoseconds) + return header + + def lidar(self, carla_lidar_measurement, id_): + """Transform the received lidar measurement into a ROS point cloud message.""" + if self.checkFrequency(id_): + return + self.publish_prev_times[id_] = datetime.datetime.now() + + header = self.get_msg_header(frame_id="velodyne_top_changed") + fields = [ + PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1), + PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1), + PointField(name="z", offset=8, datatype=PointField.FLOAT32, count=1), + PointField(name="intensity", offset=12, datatype=PointField.UINT8, count=1), + PointField(name="return_type", offset=13, datatype=PointField.UINT8, count=1), + PointField(name="channel", offset=14, datatype=PointField.UINT16, count=1), + ] + + lidar_data = numpy.frombuffer( + carla_lidar_measurement.raw_data, dtype=numpy.float32 + ).reshape(-1, 4) + intensity = lidar_data[:, 3] + intensity = ( + numpy.clip(intensity, 0, 1) * 255 + ) # CARLA lidar intensity values are between 0 and 1 + intensity = intensity.astype(numpy.uint8).reshape(-1, 1) + + return_type = numpy.zeros((lidar_data.shape[0], 1), dtype=numpy.uint8) + channel = numpy.empty((0, 1), dtype=numpy.uint16) + self.channels = self.sensors["sensors"] + + for i in range(self.channels[1]["channels"]): + current_ring_points_count = carla_lidar_measurement.get_point_count(i) + channel = numpy.vstack( + (channel, numpy.full((current_ring_points_count, 1), i, dtype=numpy.uint16)) + ) + + lidar_data = numpy.hstack((lidar_data[:, :3], intensity, return_type, channel)) + lidar_data[:, 1] *= -1 + + dtype = [ + ("x", "f4"), + ("y", "f4"), + ("z", "f4"), + ("intensity", "u1"), + ("return_type", "u1"), + ("channel", "u2"), + ] + + structured_lidar_data = numpy.zeros(lidar_data.shape[0], dtype=dtype) + structured_lidar_data["x"] = lidar_data[:, 0] + structured_lidar_data["y"] = lidar_data[:, 1] + structured_lidar_data["z"] = lidar_data[:, 2] + structured_lidar_data["intensity"] = lidar_data[:, 3].astype(numpy.uint8) + structured_lidar_data["return_type"] = lidar_data[:, 4].astype(numpy.uint8) + structured_lidar_data["channel"] = lidar_data[:, 5].astype(numpy.uint16) + + point_cloud_msg = create_cloud(header, fields, structured_lidar_data) + self.pub_lidar[id_].publish(point_cloud_msg) + + def initialpose_callback(self, data): + """Transform RVIZ initial pose to CARLA.""" + pose = data.pose.pose + pose.position.z += 2.0 + carla_pose_transform = ros_pose_to_carla_transform(pose) + if self.ego_actor is not None: + self.ego_actor.set_transform(carla_pose_transform) + else: + print("Can't find Ego Vehicle") + + def pose(self): + """Transform odometry data to Pose and publish Pose with Covariance message.""" + if self.checkFrequency("pose"): + return + self.publish_prev_times["pose"] = datetime.datetime.now() + + header = self.get_msg_header(frame_id="map") + out_pose_with_cov = PoseWithCovarianceStamped() + pose_carla = Pose() + pose_carla.position = carla_location_to_ros_point(self.ego_actor.get_transform().location) + pose_carla.orientation = carla_rotation_to_ros_quaternion( + self.ego_actor.get_transform().rotation + ) + out_pose_with_cov.header = header + out_pose_with_cov.pose.pose = pose_carla + out_pose_with_cov.pose.covariance = [ + 0.1, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.1, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + ] + self.pub_pose_with_cov.publish(out_pose_with_cov) + + def _build_camera_info(self, camera_actor): + """Build camera info.""" + camera_info = CameraInfo() + camera_info.width = camera_actor.width + camera_info.height = camera_actor.height + camera_info.distortion_model = "plumb_bob" + cx = camera_info.width / 2.0 + cy = camera_info.height / 2.0 + fx = camera_info.width / (2.0 * math.tan(camera_actor.fov * math.pi / 360.0)) + fy = fx + camera_info.k = [fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0] + camera_info.d = [0.0, 0.0, 0.0, 0.0, 0.0] + camera_info.r = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] + camera_info.p = [fx, 0.0, cx, 0.0, 0.0, fy, cy, 0.0, 0.0, 0.0, 1.0, 0.0] + self._camera_info = camera_info + + def camera(self, carla_camera_data): + """Transform the received carla camera data into a ROS image and info message and publish.""" + while self.first_: + self._camera_info_ = self._build_camera_info(carla_camera_data) + self.first_ = False + + if self.checkFrequency("camera"): + return + self.publish_prev_times["camera"] = datetime.datetime.now() + + image_data_array = numpy.ndarray( + shape=(carla_camera_data.height, carla_camera_data.width, 4), + dtype=numpy.uint8, + buffer=carla_camera_data.raw_data, + ) + # cspell:ignore interp bgra + img_msg = self.cv_bridge.cv2_to_imgmsg(image_data_array, encoding="bgra8") + img_msg.header = self.get_msg_header( + frame_id="traffic_light_left_camera/camera_optical_link" + ) + cam_info = self._camera_info + cam_info.header = img_msg.header + self.pub_camera_info.publish(cam_info) + self.pub_camera.publish(img_msg) + + def imu(self, carla_imu_measurement): + """Transform a received imu measurement into a ROS Imu message and publish Imu message.""" + if self.checkFrequency("imu"): + return + self.publish_prev_times["imu"] = datetime.datetime.now() + + imu_msg = Imu() + imu_msg.header = self.get_msg_header(frame_id="tamagawa/imu_link_changed") + imu_msg.angular_velocity.x = -carla_imu_measurement.gyroscope.x + imu_msg.angular_velocity.y = carla_imu_measurement.gyroscope.y + imu_msg.angular_velocity.z = -carla_imu_measurement.gyroscope.z + + imu_msg.linear_acceleration.x = carla_imu_measurement.accelerometer.x + imu_msg.linear_acceleration.y = -carla_imu_measurement.accelerometer.y + imu_msg.linear_acceleration.z = carla_imu_measurement.accelerometer.z + + roll = math.radians(carla_imu_measurement.transform.rotation.roll) + pitch = -math.radians(carla_imu_measurement.transform.rotation.pitch) + yaw = -math.radians(carla_imu_measurement.transform.rotation.yaw) + + quat = euler2quat(roll, pitch, yaw) + imu_msg.orientation.w = quat[0] + imu_msg.orientation.x = quat[1] + imu_msg.orientation.y = quat[2] + imu_msg.orientation.z = quat[3] + + self.pub_imu.publish(imu_msg) + + def control_callback(self, in_cmd): + """Convert and publish CARLA Ego Vehicle Control to AUTOWARE.""" + out_cmd = carla.VehicleControl() + out_cmd.throttle = in_cmd.actuation.accel_cmd + # convert base on steer curve of the vehicle + steer_curve = self.physics_control.steering_curve + current_vel = self.ego_actor.get_velocity() + max_steer_ratio = numpy.interp( + abs(current_vel.x), [v.x for v in steer_curve], [v.y for v in steer_curve] + ) + out_cmd.steer = ( + -in_cmd.actuation.steer_cmd + * max_steer_ratio + * math.radians(self.physics_control.wheels[0].max_steer_angle) + ) + out_cmd.brake = in_cmd.actuation.brake_cmd + self.current_control = out_cmd + + def ego_status(self): + """Publish ego vehicle status.""" + if self.checkFrequency("status"): + return + + self.publish_prev_times["status"] = datetime.datetime.now() + + # convert velocity from cartesian to ego frame + trans_mat = numpy.array(self.ego_actor.get_transform().get_matrix()).reshape(4, 4) + rot_mat = trans_mat[0:3, 0:3] + inv_rot_mat = rot_mat.T + vel_vec = numpy.array( + [ + self.ego_actor.get_velocity().x, + self.ego_actor.get_velocity().y, + self.ego_actor.get_velocity().z, + ] + ).reshape(3, 1) + ego_velocity = (inv_rot_mat @ vel_vec).T[0] + + out_vel_state = VelocityReport() + out_steering_state = SteeringReport() + out_ctrl_mode = ControlModeReport() + out_gear_state = GearReport() + out_actuation_status = ActuationStatusStamped() + + out_vel_state.header = self.get_msg_header(frame_id="base_link") + out_vel_state.longitudinal_velocity = ego_velocity[0] + out_vel_state.lateral_velocity = ego_velocity[1] + out_vel_state.heading_rate = ( + self.ego_actor.get_transform().transform_vector(self.ego_actor.get_angular_velocity()).z + ) + + out_steering_state.stamp = out_vel_state.header.stamp + out_steering_state.steering_tire_angle = -math.radians( + self.ego_actor.get_wheel_steer_angle(carla.VehicleWheelLocation.FL_Wheel) + ) + + out_gear_state.stamp = out_vel_state.header.stamp + out_gear_state.report = GearReport.DRIVE + + out_ctrl_mode.stamp = out_vel_state.header.stamp + out_ctrl_mode.mode = ControlModeReport.AUTONOMOUS + + control = self.ego_actor.get_control() + out_actuation_status.header = self.get_msg_header(frame_id="base_link") + out_actuation_status.status.accel_status = control.throttle + out_actuation_status.status.brake_status = control.brake + out_actuation_status.status.steer_status = -control.steer + + self.pub_actuation_status.publish(out_actuation_status) + self.pub_vel_state.publish(out_vel_state) + self.pub_steering_state.publish(out_steering_state) + self.pub_ctrl_mode.publish(out_ctrl_mode) + self.pub_gear_state.publish(out_gear_state) + + def run_step(self, input_data, timestamp): + self.timestamp = timestamp + seconds = int(self.timestamp) + nanoseconds = int((self.timestamp - int(self.timestamp)) * 1000000000.0) + obj_clock = Clock() + obj_clock.clock = Time(sec=seconds, nanosec=nanoseconds) + self.clock_publisher.publish(obj_clock) + + # publish data of all sensors + for key, data in input_data.items(): + sensor_type = self.id_to_sensor_type_map[key] + if sensor_type == "sensor.camera.rgb": + self.camera(data[1]) + elif sensor_type == "sensor.other.gnss": + self.pose() + elif sensor_type == "sensor.lidar.ray_cast": + self.lidar(data[1], key) + elif sensor_type == "sensor.other.imu": + self.imu(data[1]) + else: + self.ros2_node.get_logger().info("No Publisher for [{key}] Sensor") + + # Publish ego vehicle status + self.ego_status() + return self.current_control + + def shutdown(self): + self.ros2_node.destroy_node() diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_data_provider.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_data_provider.py new file mode 100644 index 0000000000000..7d6608585f582 --- /dev/null +++ b/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_data_provider.py @@ -0,0 +1,867 @@ +# Copyright 2024 Tier IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License.sr/bin/env python + +"""Modified CARLA Data Provider from CARLA scenario runner.""" + +from __future__ import print_function + +import datetime +import math +import re +import threading + +import carla +from numpy import random +from six import iteritems + + +def calculate_velocity(actor): + """Calculate the velocity of a actor.""" + velocity_squared = actor.get_velocity().x ** 2 + velocity_squared += actor.get_velocity().y ** 2 + return math.sqrt(velocity_squared) + + +class CarlaDataProvider(object): # pylint: disable=too-many-public-methods + _actor_velocity_map = {} + _actor_location_map = {} + _actor_transform_map = {} + _traffic_light_map = {} + _carla_actor_pool = {} + _global_osc_parameters = {} + _client = None + _world = None + _map = None + _sync_flag = False + _spawn_points = None + _spawn_index = 0 + _blueprint_library = None + _all_actors = None + _ego_vehicle_route = None + _traffic_manager_port = 8000 + _random_seed = 2000 + _rng = random.RandomState(_random_seed) + _local_planner = None + _runtime_init_flag = False + _lock = threading.Lock() + + @staticmethod + def set_local_planner(plan): + CarlaDataProvider._local_planner = plan + + @staticmethod + def get_local_planner(): + return CarlaDataProvider._local_planner + + @staticmethod + def register_actor(actor, transform=None): + """Add new actor to dictionaries.""" + with CarlaDataProvider._lock: + if actor in CarlaDataProvider._actor_velocity_map: + raise KeyError( + "Vehicle '{}' already registered. Cannot register twice!".format(actor.id) + ) + else: + CarlaDataProvider._actor_velocity_map[actor] = 0.0 + if actor in CarlaDataProvider._actor_location_map: + raise KeyError( + "Vehicle '{}' already registered. Cannot register twice!".format(actor.id) + ) + elif transform: + CarlaDataProvider._actor_location_map[actor] = transform.location + else: + CarlaDataProvider._actor_location_map[actor] = None + + if actor in CarlaDataProvider._actor_transform_map: + raise KeyError( + "Vehicle '{}' already registered. Cannot register twice!".format(actor.id) + ) + else: + CarlaDataProvider._actor_transform_map[actor] = transform + + @staticmethod + def update_osc_global_params(parameters): + """Updates/initializes global osc parameters.""" + CarlaDataProvider._global_osc_parameters.update(parameters) + + @staticmethod + def get_osc_global_param_value(ref): + """Return updated global osc parameter value.""" + return CarlaDataProvider._global_osc_parameters.get(ref.replace("$", "")) + + @staticmethod + def register_actors(actors, transforms=None): + """Add new set of actors to dictionaries.""" + if transforms is None: + transforms = [None] * len(actors) + + for actor, transform in zip(actors, transforms): + CarlaDataProvider.register_actor(actor, transform) + + @staticmethod + def on_carla_tick(): + with CarlaDataProvider._lock: + for actor in CarlaDataProvider._actor_velocity_map: + if actor is not None and actor.is_alive: + CarlaDataProvider._actor_velocity_map[actor] = calculate_velocity(actor) + + for actor in CarlaDataProvider._actor_location_map: + if actor is not None and actor.is_alive: + CarlaDataProvider._actor_location_map[actor] = actor.get_location() + + for actor in CarlaDataProvider._actor_transform_map: + if actor is not None and actor.is_alive: + CarlaDataProvider._actor_transform_map[actor] = actor.get_transform() + + world = CarlaDataProvider._world + if world is None: + print("WARNING: CarlaDataProvider couldn't find the world") + + CarlaDataProvider._all_actors = None + + @staticmethod + def get_velocity(actor): + """Return the absolute velocity for the given actor.""" + for key in CarlaDataProvider._actor_velocity_map: + if key.id == actor.id: + return CarlaDataProvider._actor_velocity_map[key] + + # We are intentionally not throwing here + # This may cause exception loops in py_trees + print("{}.get_velocity: {} not found!".format(__name__, actor)) + return 0.0 + + @staticmethod + def get_location(actor): + """Return the location for the given actor.""" + for key in CarlaDataProvider._actor_location_map: + if key.id == actor.id: + return CarlaDataProvider._actor_location_map[key] + + # We are intentionally not throwing here + # This may cause exception loops in py_trees + print("{}.get_location: {} not found!".format(__name__, actor)) + return None + + @staticmethod + def get_transform(actor): + """Return the transform for the given actor.""" + for key in CarlaDataProvider._actor_transform_map: + if key.id == actor.id: + # The velocity location information is the entire behavior tree updated every tick + # The ego vehicle is created before the behavior tree tick, so exception handling needs to be added + if CarlaDataProvider._actor_transform_map[key] is None: + return actor.get_transform() + return CarlaDataProvider._actor_transform_map[key] + + # We are intentionally not throwing here + # This may cause exception loops in py_trees + print("{}.get_transform: {} not found!".format(__name__, actor)) + return None + + @staticmethod + def get_random_seed(): + """Return the random seed.""" + return CarlaDataProvider._rng + + @staticmethod + def set_client(client): + """Set the CARLA client.""" + CarlaDataProvider._client = client + + @staticmethod + def get_client(): + """Get the CARLA client.""" + return CarlaDataProvider._client + + @staticmethod + def set_world(world): + """Set the world and world settings.""" + CarlaDataProvider._world = world + CarlaDataProvider._sync_flag = world.get_settings().synchronous_mode + CarlaDataProvider._map = world.get_map() + CarlaDataProvider._blueprint_library = world.get_blueprint_library() + CarlaDataProvider.generate_spawn_points() + CarlaDataProvider.prepare_map() + + @staticmethod + def get_world(): + """Return world.""" + return CarlaDataProvider._world + + @staticmethod + def get_map(world=None): + """Get the current map.""" + if CarlaDataProvider._map is None: + if world is None: + if CarlaDataProvider._world is None: + raise ValueError("class member 'world'' not initialized yet") + else: + CarlaDataProvider._map = CarlaDataProvider._world.get_map() + else: + CarlaDataProvider._map = world.get_map() + + return CarlaDataProvider._map + + @staticmethod + def get_all_actors(): + """Return all the world actors.""" + if CarlaDataProvider._all_actors: + return CarlaDataProvider._all_actors + + CarlaDataProvider._all_actors = CarlaDataProvider._world.get_actors() + return CarlaDataProvider._all_actors + + @staticmethod + def set_runtime_init_mode(flag): + """Set the runtime init mode.""" + CarlaDataProvider._runtime_init_flag = flag + + @staticmethod + def is_runtime_init_mode(): + """Return true if runtime init mode is used.""" + return CarlaDataProvider._runtime_init_flag + + @staticmethod + def find_weather_presets(): + """Get weather presets from CARLA.""" + rgx = re.compile(".+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)") + + def format_name(x): + return " ".join(m.group(0) for m in rgx.finditer(x)) + + presets = [x for x in dir(carla.WeatherParameters) if re.match("[A-Z].+", x)] + return [(getattr(carla.WeatherParameters, x), format_name(x)) for x in presets] + + @staticmethod + def prepare_map(): + """Set the current map and loads all traffic lights for this map to_traffic_light_map.""" + if CarlaDataProvider._map is None: + CarlaDataProvider._map = CarlaDataProvider._world.get_map() + + # Parse all traffic lights + CarlaDataProvider._traffic_light_map.clear() + for traffic_light in CarlaDataProvider._world.get_actors().filter("*traffic_light*"): + if traffic_light not in list(CarlaDataProvider._traffic_light_map): + CarlaDataProvider._traffic_light_map[traffic_light] = traffic_light.get_transform() + else: + raise KeyError( + "Traffic light '{}' already registered. Cannot register twice!".format( + traffic_light.id + ) + ) + + @staticmethod + def generate_spawn_points(): + """Generate spawn points for the current map.""" + spawn_points = list(CarlaDataProvider.get_map(CarlaDataProvider._world).get_spawn_points()) + CarlaDataProvider._rng.shuffle(spawn_points) + CarlaDataProvider._spawn_points = spawn_points + CarlaDataProvider._spawn_index = 0 + + @staticmethod + def check_road_length(wp, length: float): + waypoint_separation = 5 + + cur_len = 0 + road_id, lane_id = wp.road_id, wp.lane_id + while True: + wps = wp.next(waypoint_separation) + # The same road_id and lane_id，judged to be in the same section to be tested + next_wp = None + for p in wps: + if p.road_id == road_id and p.lane_id == lane_id: + next_wp = p + break + if next_wp is None: + break + cur_len += waypoint_separation + if cur_len >= length: + return True + wp = next_wp + return False + + @staticmethod + def get_road_lanes(wp): + if wp.is_junction: + return [] + # find the most left lane's waypoint + + lane_id_set = set() + pre_left = wp + while wp and wp.lane_type == carla.LaneType.Driving: + if wp.lane_id in lane_id_set: + break + lane_id_set.add(wp.lane_id) + + # carla bug: get_left_lane Return error，and never Return none. It's a infinite loop. + pre_left = wp + wp = wp.get_left_lane() + + # # Store data from the left lane to the right lane + # # list, key=laneid, value=waypoint + lane_list = [] + lane_id_set.clear() + wp = pre_left + while wp and wp.lane_type == carla.LaneType.Driving: + if wp.lane_id in lane_id_set: + break + lane_id_set.add(wp.lane_id) + + lane_list.append(wp) + + # carla bug: Return error, never return none, endless loop + wp = wp.get_right_lane() + + return lane_list + + @staticmethod + def get_road_lane_cnt(wp): + lanes = CarlaDataProvider.get_road_lanes(wp) + return len(lanes) + + @staticmethod + def get_waypoint_by_laneid(lane_num: int): + if CarlaDataProvider._spawn_points is None: + CarlaDataProvider.generate_spawn_points() + + if CarlaDataProvider._spawn_index >= len(CarlaDataProvider._spawn_points): + print("No more spawn points to use") + return None + else: + pos = CarlaDataProvider._spawn_points[ + CarlaDataProvider._spawn_index + ] # pylint: disable=unsubscriptable-object + CarlaDataProvider._spawn_index += 1 + wp = CarlaDataProvider.get_map().get_waypoint( + pos.location, project_to_road=True, lane_type=carla.LaneType.Driving + ) + + road_lanes = CarlaDataProvider.get_road_lanes(wp) + + lane = int(float(lane_num)) + if lane > len(road_lanes): + return None + else: + return road_lanes[lane - 1] + + # cspell:ignore rolename + @staticmethod + def create_blueprint( + model, rolename="scenario", color=None, actor_category="car", attribute_filter=None + ): + """Set up the blueprint of an actor given its model and other relevant parameters.""" + + def check_attribute_value(blueprint, name, value): + """Check if the blueprint has that attribute with that value.""" + if not blueprint.has_attribute(name): + return False + + attribute_type = blueprint.get_attribute(key).type + if attribute_type == carla.ActorAttributeType.Bool: + return blueprint.get_attribute(name).as_bool() == value + elif attribute_type == carla.ActorAttributeType.Int: + return blueprint.get_attribute(name).as_int() == value + elif attribute_type == carla.ActorAttributeType.Float: + return blueprint.get_attribute(name).as_float() == value + elif attribute_type == carla.ActorAttributeType.String: + return blueprint.get_attribute(name).as_str() == value + + return False + + # cspell:ignore carlacola carlamotors + _actor_blueprint_categories = { + "car": "vehicle.tesla.model3", + "van": "vehicle.volkswagen.t2", + "truck": "vehicle.carlamotors.carlacola", + "trailer": "", + "semitrailer": "", + "bus": "vehicle.volkswagen.t2", + "motorbike": "vehicle.kawasaki.ninja", + "bicycle": "vehicle.diamondback.century", + "train": "", + "tram": "", + "pedestrian": "walker.pedestrian.0001", + } + + # Set the model + try: + blueprints = CarlaDataProvider._blueprint_library.filter(model) + if attribute_filter is not None: + for key, value in attribute_filter.items(): + blueprints = [x for x in blueprints if check_attribute_value(x, key, value)] + + blueprint = CarlaDataProvider._rng.choice(blueprints) + except ValueError: + # The model is not part of the blueprint library. Let's take a default one for the given category + bp_filter = "vehicle.*" + new_model = _actor_blueprint_categories[actor_category] + if new_model != "": + bp_filter = new_model + print( + "WARNING: Actor model {} not available. Using instead {}".format(model, new_model) + ) + blueprint = CarlaDataProvider._rng.choice( + CarlaDataProvider._blueprint_library.filter(bp_filter) + ) + + # Set the color + if color: + if not blueprint.has_attribute("color"): + print( + "WARNING: Cannot set Color ({}) for actor {} due to missing blueprint attribute".format( + color, blueprint.id + ) + ) + else: + default_color_rgba = blueprint.get_attribute("color").as_color() + default_color = "({}, {}, {})".format( + default_color_rgba.r, default_color_rgba.g, default_color_rgba.b + ) + try: + blueprint.set_attribute("color", color) + except ValueError: + # Color can't be set for this vehicle + print( + "WARNING: Color ({}) cannot be set for actor {}. Using instead: ({})".format( + color, blueprint.id, default_color + ) + ) + blueprint.set_attribute("color", default_color) + else: + if blueprint.has_attribute("color") and rolename != "hero": + color = CarlaDataProvider._rng.choice( + blueprint.get_attribute("color").recommended_values + ) + blueprint.set_attribute("color", color) + + # Make pedestrians mortal + if blueprint.has_attribute("is_invincible"): + blueprint.set_attribute("is_invincible", "false") + + # Set the rolename + if blueprint.has_attribute("role_name"): + blueprint.set_attribute("role_name", rolename) + + return blueprint + + @staticmethod + def handle_actor_batch(batch, tick=True): + """Forward a CARLA command batch to spawn actors to CARLA, and gather the responses.""" + sync_mode = CarlaDataProvider.is_sync_mode() + actors = [] + + if CarlaDataProvider._client: + responses = CarlaDataProvider._client.apply_batch_sync(batch, sync_mode and tick) + else: + raise ValueError("class member 'client'' not initialized yet") + + # Wait (or not) for the actors to be spawned properly before we do anything + if not tick: + pass + elif CarlaDataProvider.is_runtime_init_mode(): + CarlaDataProvider._world.wait_for_tick() + elif sync_mode: + CarlaDataProvider._world.tick() + else: + CarlaDataProvider._world.wait_for_tick() + + actor_ids = [r.actor_id for r in responses if not r.error] + for r in responses: + if r.error: + print("WARNING: Not all actors were spawned") + break + actors = list(CarlaDataProvider._world.get_actors(actor_ids)) + return actors + + @staticmethod + def request_new_actor( + model, + spawn_point, + rolename="scenario", + autopilot=False, + random_location=False, + color=None, + actor_category="car", + attribute_filter=None, + tick=True, + ): + """Create a new actor, returning it if successful (None otherwise).""" + blueprint = CarlaDataProvider.create_blueprint( + model, rolename, color, actor_category, attribute_filter + ) + + if random_location: + actor = None + while not actor: + spawn_point = CarlaDataProvider._rng.choice(CarlaDataProvider._spawn_points) + actor = CarlaDataProvider._world.try_spawn_actor(blueprint, spawn_point) + + else: + # For non prop models, slightly lift the actor to avoid collisions with the ground + z_offset = 0.2 if "prop" not in model else 0 + + # DO NOT USE spawn_point directly, as this will modify spawn_point permanently + _spawn_point = carla.Transform(carla.Location(), spawn_point.rotation) + _spawn_point.location.x = spawn_point.location.x + _spawn_point.location.y = spawn_point.location.y + _spawn_point.location.z = spawn_point.location.z + z_offset + actor = CarlaDataProvider._world.try_spawn_actor(blueprint, _spawn_point) + + if actor is None: + print( + "WARNING: Cannot spawn actor {} at position {}".format(model, spawn_point.location) + ) + return None + + # De/activate the autopilot of the actor if it belongs to vehicle + if autopilot: + if isinstance(actor, carla.Vehicle): + actor.set_autopilot(autopilot, CarlaDataProvider._traffic_manager_port) + else: + print("WARNING: Tried to set the autopilot of a non vehicle actor") + + # Wait for the actor to be spawned properly before we do anything + if not tick: + pass + elif CarlaDataProvider.is_runtime_init_mode(): + CarlaDataProvider._world.wait_for_tick() + elif CarlaDataProvider.is_sync_mode(): + CarlaDataProvider._world.tick() + else: + CarlaDataProvider._world.wait_for_tick() + + if actor is None: + return None + + CarlaDataProvider._carla_actor_pool[actor.id] = actor + CarlaDataProvider.register_actor(actor, spawn_point) + return actor + + @staticmethod + def request_new_actors(actor_list, attribute_filter=None, tick=True): + """Series of actor in batch. If this was successful, the new actors are returned, None otherwise.""" + SpawnActor = carla.command.SpawnActor # pylint: disable=invalid-name + PhysicsCommand = carla.command.SetSimulatePhysics # pylint: disable=invalid-name + FutureActor = carla.command.FutureActor # pylint: disable=invalid-name + ApplyTransform = carla.command.ApplyTransform # pylint: disable=invalid-name + SetAutopilot = carla.command.SetAutopilot # pylint: disable=invalid-name + SetVehicleLightState = carla.command.SetVehicleLightState # pylint: disable=invalid-name + + batch = [] + actors = [] + + CarlaDataProvider.generate_spawn_points() + + for actor in actor_list: + # Get the blueprint + blueprint = CarlaDataProvider.create_blueprint( + actor.model, actor.rolename, actor.color, actor.category, attribute_filter + ) + + # Get the spawn point + transform = actor.transform + if not transform: + continue + if actor.random_location: + if CarlaDataProvider._spawn_index >= len(CarlaDataProvider._spawn_points): + print("No more spawn points to use") + break + else: + _spawn_point = CarlaDataProvider._spawn_points[ + CarlaDataProvider._spawn_index + ] # pylint: disable=unsubscriptable-object + CarlaDataProvider._spawn_index += 1 + + else: + _spawn_point = carla.Transform() + _spawn_point.rotation = transform.rotation + _spawn_point.location.x = transform.location.x + _spawn_point.location.y = transform.location.y + if blueprint.has_tag("walker"): + # On imported OpenDRIVE maps, spawning of pedestrians can fail. + # By increasing the z-value the chances of success are increased. + map_name = CarlaDataProvider._map.name.split("/")[-1] + if not map_name.startswith("OpenDrive"): + _spawn_point.location.z = transform.location.z + 0.2 + else: + _spawn_point.location.z = transform.location.z + 0.8 + else: + _spawn_point.location.z = transform.location.z + 0.2 + + # Get the command + command = SpawnActor(blueprint, _spawn_point) + command.then( + SetAutopilot(FutureActor, actor.autopilot, CarlaDataProvider._traffic_manager_port) + ) + + if ( + actor.args is not None + and "physics" in actor.args + and actor.args["physics"] == "off" + ): + command.then(ApplyTransform(FutureActor, _spawn_point)).then( + PhysicsCommand(FutureActor, False) + ) + elif actor.category == "misc": + command.then(PhysicsCommand(FutureActor, True)) + if actor.args is not None and "lights" in actor.args and actor.args["lights"] == "on": + command.then(SetVehicleLightState(FutureActor, carla.VehicleLightState.All)) + + batch.append(command) + + actors = CarlaDataProvider.handle_actor_batch(batch, tick) + + if not actors: + return None + + for actor in actors: + if actor is None: + continue + CarlaDataProvider._carla_actor_pool[actor.id] = actor + CarlaDataProvider.register_actor(actor, _spawn_point) + + return actors + + @staticmethod + def request_new_batch_actors( + model, + amount, + spawn_points, + autopilot=False, + random_location=False, + rolename="scenario", + attribute_filter=None, + tick=True, + ): + SpawnActor = carla.command.SpawnActor # pylint: disable=invalid-name + SetAutopilot = carla.command.SetAutopilot # pylint: disable=invalid-name + FutureActor = carla.command.FutureActor # pylint: disable=invalid-name + + CarlaDataProvider.generate_spawn_points() + + batch = [] + + for i in range(amount): + # Get vehicle by model + blueprint = CarlaDataProvider.create_blueprint( + model, rolename, attribute_filter=attribute_filter + ) + + if random_location: + if CarlaDataProvider._spawn_index >= len(CarlaDataProvider._spawn_points): + print( + "No more spawn points to use. Spawned {} actors out of {}".format( + i + 1, amount + ) + ) + break + else: + spawn_point = CarlaDataProvider._spawn_points[ + CarlaDataProvider._spawn_index + ] # pylint: disable=unsubscriptable-object + CarlaDataProvider._spawn_index += 1 + else: + try: + spawn_point = spawn_points[i] + except IndexError: + print("The amount of spawn points is lower than the amount of vehicles spawned") + break + + if spawn_point: + batch.append( + SpawnActor(blueprint, spawn_point).then( + SetAutopilot( + FutureActor, autopilot, CarlaDataProvider._traffic_manager_port + ) + ) + ) + + actors = CarlaDataProvider.handle_actor_batch(batch, tick) + for actor in actors: + if actor is None: + continue + CarlaDataProvider._carla_actor_pool[actor.id] = actor + CarlaDataProvider.register_actor(actor, spawn_point) + + return actors + + @staticmethod + def get_actors(): + """Return list of actors and their ids.""" + return iteritems(CarlaDataProvider._carla_actor_pool) + + @staticmethod + def actor_id_exists(actor_id): + """Check if a certain id is still at the simulation.""" + if actor_id in CarlaDataProvider._carla_actor_pool: + return True + + return False + + @staticmethod + def get_hero_actor(): + """Get the actor object of the hero actor if it exists, Return none otherwise.""" + for actor_id in CarlaDataProvider._carla_actor_pool: + if CarlaDataProvider._carla_actor_pool[actor_id].attributes["role_name"] == "hero": + return CarlaDataProvider._carla_actor_pool[actor_id] + return None + + @staticmethod + def get_actor_by_id(actor_id): + """Get an actor from the pool by using its ID. If the actor does not exist, None is returned.""" + print(CarlaDataProvider._carla_actor_pool) + if actor_id in CarlaDataProvider._carla_actor_pool: + return CarlaDataProvider._carla_actor_pool[actor_id] + + print("Non-existing actor id {}".format(actor_id)) + return None + + @staticmethod + def get_actor_by_name(role_name: str): + for actor_id in CarlaDataProvider._carla_actor_pool: + if CarlaDataProvider._carla_actor_pool[actor_id].attributes["role_name"] == role_name: + return CarlaDataProvider._carla_actor_pool[actor_id] + print(f"Non-existing actor name {role_name}") + return None + + @staticmethod + def remove_actor_by_id(actor_id): + """Remove an actor from the pool using its ID.""" + if actor_id in CarlaDataProvider._carla_actor_pool: + CarlaDataProvider._carla_actor_pool[actor_id].destroy() + CarlaDataProvider._carla_actor_pool[actor_id] = None + CarlaDataProvider._carla_actor_pool.pop(actor_id) + else: + print("Trying to remove a non-existing actor id {}".format(actor_id)) + + @staticmethod + def is_sync_mode(): + """Return true if synchronous mode is used.""" + return CarlaDataProvider._sync_flag + + @staticmethod + def remove_actors_in_surrounding(location, distance): + """Remove all actors from the pool that are closer than distance to the provided location.""" + for actor_id in CarlaDataProvider._carla_actor_pool.copy(): + if ( + CarlaDataProvider._carla_actor_pool[actor_id].get_location().distance(location) + < distance + ): + CarlaDataProvider._carla_actor_pool[actor_id].destroy() + CarlaDataProvider._carla_actor_pool.pop(actor_id) + + # Remove all keys with None values + CarlaDataProvider._carla_actor_pool = dict( + {k: v for k, v in CarlaDataProvider._carla_actor_pool.items() if v} + ) + + @staticmethod + def get_traffic_manager_port(): + """Get the port of the traffic manager.""" + return CarlaDataProvider._traffic_manager_port + + @staticmethod + def set_traffic_manager_port(tm_port): + """Set the port to use for the traffic manager.""" + CarlaDataProvider._traffic_manager_port = tm_port + + @staticmethod + def cleanup(): + """Cleanup and remove all entries from all dictionaries.""" + DestroyActor = carla.command.DestroyActor # pylint: disable=invalid-name + batch = [] + + for actor_id in CarlaDataProvider._carla_actor_pool.copy(): + actor = CarlaDataProvider._carla_actor_pool[actor_id] + if actor is not None and actor.is_alive: + batch.append(DestroyActor(actor)) + + if CarlaDataProvider._client: + try: + CarlaDataProvider._client.apply_batch_sync(batch) + except RuntimeError as e: + if "time-out" in str(e): + pass + else: + raise e + + CarlaDataProvider._actor_velocity_map.clear() + CarlaDataProvider._actor_location_map.clear() + CarlaDataProvider._actor_transform_map.clear() + CarlaDataProvider._traffic_light_map.clear() + CarlaDataProvider._map = None + CarlaDataProvider._world = None + CarlaDataProvider._sync_flag = False + CarlaDataProvider._ego_vehicle_route = None + CarlaDataProvider._all_actors = None + CarlaDataProvider._carla_actor_pool = {} + CarlaDataProvider._client = None + CarlaDataProvider._spawn_points = None + CarlaDataProvider._spawn_index = 0 + CarlaDataProvider._rng = random.RandomState(CarlaDataProvider._random_seed) + CarlaDataProvider._runtime_init_flag = False + + @property + def world(self): + return self._world + + +class GameTime(object): + """Provides access to the CARLA game time.""" + + _current_game_time = 0.0 # Elapsed game time after starting this Timer + _carla_time = 0.0 + _last_frame = 0 + _platform_timestamp = 0 + _init = False + + @staticmethod + def on_carla_tick(timestamp): + """Handle the callback receiving the CARLA time. Update time only when the frame is more recent than the last frame.""" + if GameTime._last_frame < timestamp.frame: + frames = timestamp.frame - GameTime._last_frame if GameTime._init else 1 + GameTime._current_game_time += timestamp.delta_seconds * frames + GameTime._last_frame = timestamp.frame + GameTime._platform_timestamp = datetime.datetime.now() + GameTime._init = True + GameTime._carla_time = timestamp.elapsed_seconds + + @staticmethod + def restart(): + """Reset game timer to 0.""" + GameTime._current_game_time = 0.0 + GameTime._carla_time = 0.0 + GameTime._last_frame = 0 + GameTime._init = False + + @staticmethod + def get_time(): + """Return elapsed game time.""" + return GameTime._current_game_time + + @staticmethod + def get_carla_time(): + """Return elapsed game time.""" + return GameTime._carla_time + + @staticmethod + def get_wall_clock_time(): + """Return elapsed game time.""" + return GameTime._platform_timestamp + + @staticmethod + def get_frame(): + """Return elapsed game time.""" + return GameTime._last_frame diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_utils.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_utils.py new file mode 100644 index 0000000000000..72eb176515f73 --- /dev/null +++ b/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_utils.py @@ -0,0 +1,109 @@ +import ctypes +import math +import struct +import sys + +import carla +from geometry_msgs.msg import Point +from geometry_msgs.msg import Quaternion +from sensor_msgs.msg import PointCloud2 +from sensor_msgs.msg import PointField +from transforms3d.euler import euler2quat +from transforms3d.euler import quat2euler + + +def _get_struct_fmt(is_bigendian, fields, field_names=None): + _DATATYPES = {} + _DATATYPES[PointField.INT8] = ("b", 1) + _DATATYPES[PointField.UINT8] = ("B", 1) + _DATATYPES[PointField.INT16] = ("h", 2) + _DATATYPES[PointField.UINT16] = ("H", 2) + _DATATYPES[PointField.INT32] = ("i", 4) + _DATATYPES[PointField.UINT32] = ("I", 4) + _DATATYPES[PointField.FLOAT32] = ("f", 4) + _DATATYPES[PointField.FLOAT64] = ("d", 8) + + fmt = ">" if is_bigendian else "<" + + offset = 0 + for field in ( + f + for f in sorted(fields, key=lambda f: f.offset) + if field_names is None or f.name in field_names + ): + if offset < field.offset: + fmt += "x" * (field.offset - offset) + offset = field.offset + if field.datatype not in _DATATYPES: + print("Skipping unknown PointField datatype [{}]" % field.datatype, file=sys.stderr) + else: + datatype_fmt, datatype_length = _DATATYPES[field.datatype] + fmt += field.count * datatype_fmt + offset += field.count * datatype_length + + return fmt + + +def create_cloud(header, fields, points): + """Create a L{sensor_msgs.msg.PointCloud2} message with different datatype (Modified create_cloud function).""" + cloud_struct = struct.Struct(_get_struct_fmt(False, fields)) + + buff = ctypes.create_string_buffer(cloud_struct.size * len(points)) + + point_step, pack_into = cloud_struct.size, cloud_struct.pack_into + offset = 0 + for p in points: + pack_into(buff, offset, *p) + offset += point_step + + return PointCloud2( + header=header, + height=1, + width=len(points), + is_dense=False, + is_bigendian=False, + fields=fields, + point_step=cloud_struct.size, + row_step=cloud_struct.size * len(points), + data=buff.raw, + ) + + +def carla_location_to_ros_point(carla_location): + """Convert a carla location to a ROS point.""" + ros_point = Point() + ros_point.x = carla_location.x + ros_point.y = -carla_location.y + ros_point.z = carla_location.z + + return ros_point + + +def carla_rotation_to_ros_quaternion(carla_rotation): + """Convert a carla rotation to a ROS quaternion.""" + roll = math.radians(carla_rotation.roll) + pitch = -math.radians(carla_rotation.pitch) + yaw = -math.radians(carla_rotation.yaw) + quat = euler2quat(roll, pitch, yaw) + ros_quaternion = Quaternion(w=quat[0], x=quat[1], y=quat[2], z=quat[3]) + + return ros_quaternion + + +def ros_quaternion_to_carla_rotation(ros_quaternion): + """Convert ROS quaternion to carla rotation.""" + roll, pitch, yaw = quat2euler( + [ros_quaternion.w, ros_quaternion.x, ros_quaternion.y, ros_quaternion.z] + ) + + return carla.Rotation( + roll=math.degrees(roll), pitch=-math.degrees(pitch), yaw=-math.degrees(yaw) + ) + + +def ros_pose_to_carla_transform(ros_pose): + """Convert ROS pose to carla transform.""" + return carla.Transform( + carla.Location(ros_pose.position.x, -ros_pose.position.y, ros_pose.position.z), + ros_quaternion_to_carla_rotation(ros_pose.orientation), + ) diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_wrapper.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_wrapper.py new file mode 100644 index 0000000000000..ed036a47ea9fe --- /dev/null +++ b/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/carla_wrapper.py @@ -0,0 +1,231 @@ +# Copyright 2024 Tier IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License.sr/bin/env python + +from __future__ import print_function + +import logging +from queue import Empty +from queue import Queue + +import carla +import numpy as np + +from .carla_data_provider import CarlaDataProvider + + +# Sensor Wrapper for Agent +class SensorReceivedNoData(Exception): + """Exceptions when no data received from the sensors.""" + + +class GenericMeasurement(object): + def __init__(self, data, frame): + self.data = data + self.frame = frame + + +class CallBack(object): + def __init__(self, tag, sensor, data_provider): + self._tag = tag + self._data_provider = data_provider + + self._data_provider.register_sensor(tag, sensor) + + def __call__(self, data): + if isinstance(data, carla.Image): + self._parse_image_cb(data, self._tag) + elif isinstance(data, carla.LidarMeasurement): + self._parse_lidar_cb(data, self._tag) + elif isinstance(data, carla.GnssMeasurement): + self._parse_gnss_cb(data, self._tag) + elif isinstance(data, carla.IMUMeasurement): + self._parse_imu_cb(data, self._tag) + elif isinstance(data, GenericMeasurement): + self._parse_pseudo_sensor(data, self._tag) + else: + logging.error("No callback method for this sensor.") + + # Parsing CARLA physical Sensors + def _parse_image_cb(self, image, tag): + self._data_provider.update_sensor(tag, image, image.frame) + + def _parse_lidar_cb(self, lidar_data, tag): + self._data_provider.update_sensor(tag, lidar_data, lidar_data.frame) + + def _parse_imu_cb(self, imu_data, tag): + self._data_provider.update_sensor(tag, imu_data, imu_data.frame) + + def _parse_gnss_cb(self, gnss_data, tag): + array = np.array( + [gnss_data.latitude, gnss_data.longitude, gnss_data.altitude], dtype=np.float64 + ) + self._data_provider.update_sensor(tag, array, gnss_data.frame) + + def _parse_pseudo_sensor(self, package, tag): + self._data_provider.update_sensor(tag, package.data, package.frame) + + +class SensorInterface(object): + def __init__(self): + self._sensors_objects = {} + self._new_data_buffers = Queue() + self._queue_timeout = 10 + self.tag = "" + + def register_sensor(self, tag, sensor): + self.tag = tag + if tag in self._sensors_objects: + raise ValueError(f"Duplicated sensor tag [{tag}]") + + self._sensors_objects[tag] = sensor + + def update_sensor(self, tag, data, timestamp): + if tag not in self._sensors_objects: + raise ValueError(f"Sensor with tag [{tag}] has not been created") + + self._new_data_buffers.put((tag, timestamp, data)) + + def get_data(self): + try: + data_dict = {} + while len(data_dict.keys()) < len(self._sensors_objects.keys()): + sensor_data = self._new_data_buffers.get(True, self._queue_timeout) + data_dict[sensor_data[0]] = (sensor_data[1], sensor_data[2]) + except Empty: + raise SensorReceivedNoData( + f"Sensor with tag [{self.tag}] took too long to send its data" + ) + + return data_dict + + +# Sensor Wrapper + + +class SensorWrapper(object): + _agent = None + _sensors_list = [] + + def __init__(self, agent): + self._agent = agent + + def __call__(self): + return self._agent() + + def setup_sensors(self, vehicle, debug_mode=False): + """Create and attach the sensor defined in objects.json.""" + bp_library = CarlaDataProvider.get_world().get_blueprint_library() + + for sensor_spec in self._agent.sensors["sensors"]: + bp = bp_library.find(str(sensor_spec["type"])) + + if sensor_spec["type"].startswith("sensor.camera"): + bp.set_attribute("image_size_x", str(sensor_spec["image_size_x"])) + bp.set_attribute("image_size_y", str(sensor_spec["image_size_y"])) + bp.set_attribute("fov", str(sensor_spec["fov"])) + sensor_location = carla.Location( + x=sensor_spec["spawn_point"]["x"], + y=sensor_spec["spawn_point"]["y"], + z=sensor_spec["spawn_point"]["z"], + ) + sensor_rotation = carla.Rotation( + pitch=sensor_spec["spawn_point"]["pitch"], + roll=sensor_spec["spawn_point"]["roll"], + yaw=sensor_spec["spawn_point"]["yaw"], + ) + + elif sensor_spec["type"].startswith("sensor.lidar"): + bp.set_attribute("range", str(sensor_spec["range"])) + bp.set_attribute("rotation_frequency", str(sensor_spec["rotation_frequency"])) + bp.set_attribute("channels", str(sensor_spec["channels"])) + bp.set_attribute("upper_fov", str(sensor_spec["upper_fov"])) + bp.set_attribute("lower_fov", str(sensor_spec["lower_fov"])) + bp.set_attribute("points_per_second", str(sensor_spec["points_per_second"])) + sensor_location = carla.Location( + x=sensor_spec["spawn_point"]["x"], + y=sensor_spec["spawn_point"]["y"], + z=sensor_spec["spawn_point"]["z"], + ) + sensor_rotation = carla.Rotation( + pitch=sensor_spec["spawn_point"]["pitch"], + roll=sensor_spec["spawn_point"]["roll"], + yaw=sensor_spec["spawn_point"]["yaw"], + ) + + elif sensor_spec["type"].startswith("sensor.other.gnss"): + bp.set_attribute("noise_alt_stddev", str(0.0)) + bp.set_attribute("noise_lat_stddev", str(0.0)) + bp.set_attribute("noise_lon_stddev", str(0.0)) + bp.set_attribute("noise_alt_bias", str(0.0)) + bp.set_attribute("noise_lat_bias", str(0.0)) + bp.set_attribute("noise_lon_bias", str(0.0)) + sensor_location = carla.Location( + x=sensor_spec["spawn_point"]["x"], + y=sensor_spec["spawn_point"]["y"], + z=sensor_spec["spawn_point"]["z"], + ) + sensor_rotation = carla.Rotation( + pitch=sensor_spec["spawn_point"]["pitch"], + roll=sensor_spec["spawn_point"]["roll"], + yaw=sensor_spec["spawn_point"]["yaw"], + ) + + elif sensor_spec["type"].startswith("sensor.other.imu"): + bp.set_attribute("noise_accel_stddev_x", str(0.0)) + bp.set_attribute("noise_accel_stddev_y", str(0.0)) + bp.set_attribute("noise_accel_stddev_z", str(0.0)) + bp.set_attribute("noise_gyro_stddev_x", str(0.0)) + bp.set_attribute("noise_gyro_stddev_y", str(0.0)) + bp.set_attribute("noise_gyro_stddev_z", str(0.0)) + sensor_location = carla.Location( + x=sensor_spec["spawn_point"]["x"], + y=sensor_spec["spawn_point"]["y"], + z=sensor_spec["spawn_point"]["z"], + ) + sensor_rotation = carla.Rotation( + pitch=sensor_spec["spawn_point"]["pitch"], + roll=sensor_spec["spawn_point"]["roll"], + yaw=sensor_spec["spawn_point"]["yaw"], + ) + + elif sensor_spec["type"].startswith("sensor.pseudo.*"): + sensor_location = carla.Location( + x=sensor_spec["spawn_point"]["x"], + y=sensor_spec["spawn_point"]["y"], + z=sensor_spec["spawn_point"]["z"], + ) + sensor_rotation = carla.Rotation( + pitch=sensor_spec["spawn_point"]["pitch"] + 0.001, + roll=sensor_spec["spawn_point"]["roll"] - 0.015, + yaw=sensor_spec["spawn_point"]["yaw"] + 0.0364, + ) + + # create sensor + sensor_transform = carla.Transform(sensor_location, sensor_rotation) + sensor = CarlaDataProvider.get_world().spawn_actor(bp, sensor_transform, vehicle) + # setup callback + sensor.listen(CallBack(sensor_spec["id"], sensor, self._agent.sensor_interface)) + self._sensors_list.append(sensor) + + # Tick once to spawn the sensors + CarlaDataProvider.get_world().tick() + + def cleanup(self): + """Cleanup sensors.""" + for i, _ in enumerate(self._sensors_list): + if self._sensors_list[i] is not None: + self._sensors_list[i].stop() + self._sensors_list[i].destroy() + self._sensors_list[i] = None + self._sensors_list = [] From ef1eac36df57d5f25ddaab03995e5d7e3bef345c Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 19 Jul 2024 16:34:50 +0900 Subject: [PATCH 246/306] feat(simple_planning_simulator): add actuation command simulator (#8065) * feat(simple_planning_simulator): add actuation command simulator Signed-off-by: kosuke55 tmp Signed-off-by: kosuke55 add * remove unused functions Signed-off-by: kosuke55 * common map Signed-off-by: kosuke55 * pre-commit Signed-off-by: kosuke55 * update readme Signed-off-by: kosuke55 * add test Signed-off-by: kosuke55 install test dir Signed-off-by: kosuke55 fix test * pre-commit Signed-off-by: kosuke55 * clean up test for for scalability parameter Signed-off-by: Takamasa Horibe * fix typo Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 Signed-off-by: Takamasa Horibe Co-authored-by: Takamasa Horibe --- .../launch/simulator.launch.xml | 2 + .../simple_planning_simulator/CMakeLists.txt | 3 +- simulator/simple_planning_simulator/README.md | 17 ++ .../data/actuation_cmd_map/accel_map.csv | 7 + .../data/actuation_cmd_map/brake_map.csv | 10 + .../data/actuation_cmd_map/steer_map.csv | 14 + .../simple_planning_simulator_core.hpp | 21 +- .../utils/csv_loader.hpp | 3 +- .../vehicle_model/sim_model.hpp | 1 + .../vehicle_model/sim_model_actuation_cmd.hpp | 209 ++++++++++++++ .../sim_model_delay_steer_map_acc_geared.hpp | 4 +- .../simple_planning_simulator.launch.py | 53 +++- .../simple_planning_simulator_core.cpp | 89 +++++- .../utils/csv_loader.cpp | 12 +- .../vehicle_model/sim_model_actuation_cmd.cpp | 259 ++++++++++++++++++ .../test/actuation_cmd_map/accel_map.csv | 6 + .../test/actuation_cmd_map/brake_map.csv | 10 + .../test/actuation_cmd_map/steer_map.csv | 4 + .../test/test_simple_planning_simulator.cpp | 173 ++++++++++-- 19 files changed, 843 insertions(+), 54 deletions(-) create mode 100644 simulator/simple_planning_simulator/data/actuation_cmd_map/accel_map.csv create mode 100644 simulator/simple_planning_simulator/data/actuation_cmd_map/brake_map.csv create mode 100644 simulator/simple_planning_simulator/data/actuation_cmd_map/steer_map.csv create mode 100644 simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp create mode 100644 simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp create mode 100644 simulator/simple_planning_simulator/test/actuation_cmd_map/accel_map.csv create mode 100644 simulator/simple_planning_simulator/test/actuation_cmd_map/brake_map.csv create mode 100644 simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index bf43fde85e0a2..04d91293a7877 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -13,6 +13,7 @@ + @@ -159,6 +160,7 @@ + diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/simple_planning_simulator/CMakeLists.txt index 376553aa62917..07e7e6b5ad169 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/simple_planning_simulator/CMakeLists.txt @@ -21,6 +21,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp + src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp src/simple_planning_simulator/utils/csv_loader.cpp ) target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${learning_based_vehicle_model_INCLUDE_DIRS}) @@ -41,4 +42,4 @@ if(BUILD_TESTING) ) endif() -ament_auto_package(INSTALL_TO_SHARE param launch) +ament_auto_package(INSTALL_TO_SHARE param data launch test) diff --git a/simulator/simple_planning_simulator/README.md b/simulator/simple_planning_simulator/README.md index c3d02da64b882..d44264035ecc4 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/simple_planning_simulator/README.md @@ -65,6 +65,7 @@ The purpose of this simulator is for the integration test of planning and contro - `DELAY_STEER_ACC_GEARED_WO_FALL_GUARD` - `DELAY_STEER_MAP_ACC_GEARED`: applies 1D dynamics and time delay to the steering and acceleration commands. The simulated acceleration is determined by a value converted through the provided acceleration map. This model is valuable for an accurate simulation with acceleration deviations in a real vehicle. - `LEARNED_STEER_VEL`: launches learned python models. More about this [here](../learning_based_vehicle_model). +- `ACTUATION_CMD`: A simulator model that receives `ACTUATION_CMD`. In this case, the `raw_vehicle_cmd_converter` is also launched. The `IDEAL` model moves ideally as commanded, while the `DELAY` model moves based on a 1st-order with time delay model. The `STEER` means the model receives the steer command. The `VEL` means the model receives the target velocity command, while the `ACC` model receives the target acceleration command. The `GEARED` suffix means that the motion will consider the gear command: the vehicle moves only one direction following the gear. @@ -122,6 +123,22 @@ default, 0.00, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 1 ![acceleration_map](./media/acceleration_map.svg) +##### ACTUATION_CMD model + +The simple_planning_simulator usually operates by receiving Control commands, but when the `ACTUATION_CMD` model is selected, it receives Actuation commands instead of Control commands. This model can simulate the motion using the vehicle command that is actually sent to the real vehicle. Therefore, when this model is selected, the `raw_vehicle_cmd_converter` is also launched. + +The parameters used in the ACTUATION_CMD are as follows. + +| Name | Type | Description | unit | +| :------------------ | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--- | +| accel_time_delay | double | dead time for the acceleration input | [s] | +| accel_time_constant | double | time constant of the 1st-order acceleration dynamics | [s] | +| brake_time_delay | double | dead time for the brake input | [s] | +| brake_time_constant | double | time constant of the 1st-order brake dynamics | [s] | +| convert_accel_cmd | bool | If true, it is assumed that the command is received converted to an accel actuation value, and it is converted back to acceleration value inside the simulator. | [-] | +| convert_brake_cmd | bool | If true, it is assumed that the command is received converted to a brake actuation value, and it is converted back to acceleration value inside the simulator. | [-] | +| convert_steer_cmd | bool | If true, it is assumed that the command is received converted to a steer actuation value, and it is converted back to steer rate value inside the simulator. | [-] | + _Note_: The steering/velocity/acceleration dynamics is modeled by a first order system with a deadtime in a _delay_ model. The definition of the _time constant_ is the time it takes for the step response to rise up to 63% of its final value. The _deadtime_ is a delay in the response to a control input. diff --git a/simulator/simple_planning_simulator/data/actuation_cmd_map/accel_map.csv b/simulator/simple_planning_simulator/data/actuation_cmd_map/accel_map.csv new file mode 100644 index 0000000000000..32e639cad3373 --- /dev/null +++ b/simulator/simple_planning_simulator/data/actuation_cmd_map/accel_map.csv @@ -0,0 +1,7 @@ +default,0.0, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 13.89 +0,0.3,-0.05,-0.3,-0.39,-0.4,-0.41,-0.42,-0.44,-0.46,-0.48,-0.5 +0.1,0.6,0.42,0.24,0.18,0.12,0.05,-0.08,-0.16,-0.2,-0.24,-0.28 +0.2,1.15,0.98,0.78,0.6,0.48,0.34,0.26,0.2,0.1,0.05,-0.03 +0.3,1.75,1.6,1.42,1.3,1.14,1,0.9,0.8,0.72,0.64,0.58 +0.4,2.65,2.48,2.3,2.13,1.95,1.75,1.58,1.45,1.32,1.2,1.1 +0.5,3.3,3.25,3.12,2.92,2.68,2.35,2.17,1.98,1.88,1.73,1.61 diff --git a/simulator/simple_planning_simulator/data/actuation_cmd_map/brake_map.csv b/simulator/simple_planning_simulator/data/actuation_cmd_map/brake_map.csv new file mode 100644 index 0000000000000..adf2c80950bb1 --- /dev/null +++ b/simulator/simple_planning_simulator/data/actuation_cmd_map/brake_map.csv @@ -0,0 +1,10 @@ +default,0.0, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 13.89 +0,0.3,-0.05,-0.3,-0.39,-0.4,-0.41,-0.42,-0.44,-0.46,-0.48,-0.5 +0.1,0.29,-0.06,-0.31,-0.4,-0.41,-0.42,-0.43,-0.45,-0.47,-0.49,-0.51 +0.2,-0.38,-0.4,-0.72,-0.8,-0.82,-0.85,-0.87,-0.89,-0.91,-0.94,-0.96 +0.3,-1,-1.04,-1.48,-1.55,-1.57,-1.59,-1.61,-1.63,-1.631,-1.632,-1.633 +0.4,-1.48,-1.5,-1.85,-2.05,-2.1,-2.101,-2.102,-2.103,-2.104,-2.105,-2.106 +0.5,-1.49,-1.51,-1.86,-2.06,-2.11,-2.111,-2.112,-2.113,-2.114,-2.115,-2.116 +0.6,-1.5,-1.52,-1.87,-2.07,-2.12,-2.121,-2.122,-2.123,-2.124,-2.125,-2.126 +0.7,-1.51,-1.53,-1.88,-2.08,-2.13,-2.131,-2.132,-2.133,-2.134,-2.135,-2.136 +0.8,-2.18,-2.2,-2.7,-2.8,-2.9,-2.95,-2.951,-2.952,-2.953,-2.954,-2.955 diff --git a/simulator/simple_planning_simulator/data/actuation_cmd_map/steer_map.csv b/simulator/simple_planning_simulator/data/actuation_cmd_map/steer_map.csv new file mode 100644 index 0000000000000..3da0e0cd54f2d --- /dev/null +++ b/simulator/simple_planning_simulator/data/actuation_cmd_map/steer_map.csv @@ -0,0 +1,14 @@ +default,-0.6,-0.5,-0.4,-0.3,-0.2,-0.1,0,0.1,0.2,0.3,0.4,0.5,0.6 +-12,-0.29,-0.3234236132,-0.3468991362,-0.37274847,-0.4288688461,-0.4696573,-0.4781014157,-0.49,-0.51,-0.52,-0.53,-0.54,-0.55 +-10,-0.2,-0.2451308686,-0.2667782734,-0.3090752469,-0.3575200568,-0.3874868999,-0.4041493831,-0.42,-0.43,-0.44,-0.45,-0.46,-0.47 +-8,-0.1,-0.1586739777,-0.2020698818,-0.2317654357,-0.2778998646,-0.3029839842,-0.3188172953,-0.32,-0.33,-0.34,-0.35,-0.36,-0.37 +-6,-0.0404761584,-0.0806574159,-0.1208386734,-0.1559621241,-0.1888907059,-0.210790018,-0.2322336736,-0.24,-0.25,-0.26,-0.27,-0.28,-0.29 +-4,0.01,-0.01428569928,-0.04,-0.06805018099,-0.09718925222,-0.1189509092,-0.1361293637,-0.14,-0.153044463,-0.1688321844,-0.18,-0.2,-0.22 +-2,0.06,0.05,0.03,0.01,-0.006091655083,-0.03546033903,-0.05319488695,-0.06097627388,-0.07576251508,-0.09165178816,-0.1,-0.12,-0.14 +0,0.11,0.09,0.07,0.05,0.03,0.01,-0.0004106386541,-0.01,-0.03,-0.05,-0.07,-0.09,-0.11 +2,0.15,0.13,0.11,0.09,0.07812978496,0.06023545297,0.04386326928,0.02314813566,0.003779338416,-0.01390526686,-0.0324840879,-0.05106290894,-0.06964172998 +4,0.24,0.22,0.2,0.1839795042,0.1649754952,0.1455879759,0.1274837062,0.1020632549,0.0861964856,0.06971503353,0.04541294018,0.01308869356,-0.01923555307 +6,0.33,0.31,0.29,0.274963497,0.2447295892,0.2337353319,0.2126138313,0.1767700907,0.1578757866,0.1440584148,0.1136331403,0.0827443595,0.05185557872 +8,0.43,0.41,0.39,0.3714915121,0.3299578073,0.3156403746,0.2997845963,0.2500495071,0.2339668568,0.2153133621,0.1815127859,0.156071251,0.1306297162 +10,0.5,0.49,0.48,0.4629455165,0.4210353203,0.3977027236,0.3865034288,0.3250957262,0.312237913,0.2885123051,0.2474220915,0.2123900615,0.1773580315 +12,0.56,0.54,0.53,0.5151036525,0.5046070554,0.4897214196,0.4687756354,0.4036994672,0.3812674227,0.3496883008,0.32482655,0.2783538423,0.2318811345 diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp index 86e4346770f0c..0ed603960a6c5 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp @@ -44,6 +44,7 @@ #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/imu.hpp" #include "tier4_external_api_msgs/srv/initialize_pose.hpp" +#include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp" #include #include @@ -52,6 +53,7 @@ #include #include #include +#include #include namespace simulation @@ -83,6 +85,7 @@ using geometry_msgs::msg::TwistStamped; using nav_msgs::msg::Odometry; using sensor_msgs::msg::Imu; using tier4_external_api_msgs::srv::InitializePose; +using tier4_vehicle_msgs::msg::ActuationCommandStamped; class DeltaTime { @@ -115,6 +118,8 @@ class MeasurementNoiseGenerator std::shared_ptr> steer_dist_; }; +using InputCommand = std::variant; + class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node { public: @@ -138,7 +143,6 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_manual_gear_cmd_; rclcpp::Subscription::SharedPtr sub_turn_indicators_cmd_; rclcpp::Subscription::SharedPtr sub_hazard_lights_cmd_; - rclcpp::Subscription::SharedPtr sub_ackermann_cmd_; rclcpp::Subscription::SharedPtr sub_manual_ackermann_cmd_; rclcpp::Subscription::SharedPtr sub_map_; rclcpp::Subscription::SharedPtr sub_init_pose_; @@ -146,6 +150,10 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_trajectory_; rclcpp::Subscription::SharedPtr sub_engage_; + // todo + rclcpp::Subscription::SharedPtr sub_ackermann_cmd_; + rclcpp::Subscription::SharedPtr sub_actuation_cmd_; + rclcpp::Service::SharedPtr srv_mode_req_; rclcpp::CallbackGroup::SharedPtr group_api_service_; @@ -189,6 +197,8 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node bool is_initialized_ = false; //!< @brief flag to check the initial position is set bool add_measurement_noise_ = false; //!< @brief flag to add measurement noise + InputCommand current_input_command_{}; + DeltaTime delta_time_{}; //!< @brief to calculate delta time MeasurementNoiseGenerator measurement_noise_{}; //!< @brief for measurement noise @@ -206,15 +216,20 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node DELAY_STEER_VEL = 5, DELAY_STEER_MAP_ACC_GEARED = 6, LEARNED_STEER_VEL = 7, - DELAY_STEER_ACC_GEARED_WO_FALL_GUARD = 8 + DELAY_STEER_ACC_GEARED_WO_FALL_GUARD = 8, + ACTUATION_CMD = 9 } vehicle_model_type_; //!< @brief vehicle model type to decide the model dynamics std::shared_ptr vehicle_model_ptr_; //!< @brief vehicle model pointer + void set_input(const InputCommand & cmd, const double acc_by_slope); + /** * @brief set input steering, velocity, and acceleration of the vehicle model */ void set_input(const Control & cmd, const double acc_by_slope); + void set_input(const ActuationCommandStamped & cmd, const double acc_by_slope); + /** * @brief set current_vehicle_state_ with received message */ @@ -295,7 +310,7 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node /** * @brief initialize vehicle_model_ptr */ - void initialize_vehicle_model(); + void initialize_vehicle_model(const std::string & vehicle_model_type_str); /** * @brief add measurement noise diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp index fc71837541b83..a8851640fb62b 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp @@ -34,8 +34,7 @@ class CSVLoader static Map getMap(const Table & table); static std::vector getRowIndex(const Table & table); static std::vector getColumnIndex(const Table & table); - static double clampValue( - const double val, const std::vector & ranges, const std::string & name); + static double clampValue(const double val, const std::vector & ranges); private: std::string csv_path_; diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp index 2d38ef31498b6..52c3825ae1888 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp @@ -15,6 +15,7 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_ +#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" #include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp" #include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp" #include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp" diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp new file mode 100644 index 0000000000000..1385a509b8dca --- /dev/null +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp @@ -0,0 +1,209 @@ +// Copyright 2024 The Autoware Foundation. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ +#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ + +#include "eigen3/Eigen/Core" +#include "eigen3/Eigen/LU" +#include "interpolation/linear_interpolation.hpp" +#include "simple_planning_simulator/utils/csv_loader.hpp" +#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" + +#include +#include +#include +#include +#include + +/** + * @class ActuationMap + * @brief class to convert actuation command + */ +class ActuationMap +{ +public: + /** + * @brief read actuation map from csv file + * @param [in] csv_path path to csv file + * @param [in] validation flag to validate data + * @return true if success to read + */ + bool readActuationMapFromCSV(const std::string & csv_path, const bool validation = false); + double getControlCommand(const double actuation, const double state) const; + +private: + std::vector state_index_; // e.g. velocity, steering + std::vector actuation_index_; + std::vector> actuation_map_; +}; + +/** + * @class SimModelActuationCmd + * @brief class to handle vehicle model with actuation command + */ +class SimModelActuationCmd : public SimModelInterface +{ +public: + /** + * @brief constructor + * @param [in] vx_lim velocity limit [m/s] + * @param [in] steer_lim steering limit [rad] + * @param [in] vx_rate_lim acceleration limit [m/ss] + * @param [in] steer_rate_lim steering angular velocity limit [rad/ss] + * @param [in] wheelbase vehicle wheelbase length [m] + * @param [in] dt delta time information to set input buffer for delay + * @param [in] accel_delay time delay for accel command [s] + * @param [in] acc_time_constant time constant for 1D model of accel dynamics + * @param [in] brake_delay time delay for brake command [s] + * @param [in] brake_time_constant time constant for 1D model of brake dynamics + * @param [in] steer_delay time delay for steering command [s] + * @param [in] steer_time_constant time constant for 1D model of steering dynamics + * @param [in] steer_bias steering bias [rad] + * @param [in] convert_accel_cmd flag to convert accel command + * @param [in] convert_brake_cmd flag to convert brake command + * @param [in] convert_steer_cmd flag to convert steer command + * @param [in] accel_map_path path to csv file for accel conversion map + * @param [in] brake_map_path path to csv file for brake conversion map + * @param [in] steer_map_path path to csv file for steer conversion map + */ + SimModelActuationCmd( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, + std::string accel_map_path, std::string brake_map_path, std::string steer_map_path); + + /** + * @brief default destructor + */ + ~SimModelActuationCmd() = default; + + ActuationMap accel_map_; + ActuationMap brake_map_; + ActuationMap steer_map_; + + bool convert_accel_cmd_; + bool convert_brake_cmd_; + bool convert_steer_cmd_; + +private: + const double MIN_TIME_CONSTANT; //!< @brief minimum time constant + + enum IDX { + X = 0, + Y, + YAW, + VX, + STEER, + ACCX, + }; + enum IDX_U { + ACCEL_DES = 0, + BRAKE_DES, + SLOPE_ACCX, + STEER_DES, + GEAR, + }; + + const double vx_lim_; //!< @brief velocity limit [m/s] + const double vx_rate_lim_; //!< @brief acceleration limit [m/ss] + const double steer_lim_; //!< @brief steering limit [rad] + const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] + const double wheelbase_; //!< @brief vehicle wheelbase length [m] + + std::deque accel_input_queue_; //!< @brief buffer for accel command + std::deque brake_input_queue_; //!< @brief buffer for brake command + std::deque steer_input_queue_; //!< @brief buffer for steering command + const double accel_delay_; //!< @brief time delay for accel command [s] + const double accel_time_constant_; //!< @brief time constant for accel dynamics + const double brake_delay_; //!< @brief time delay for brake command [s] + const double brake_time_constant_; //!< @brief time constant for brake dynamics + const double steer_delay_; //!< @brief time delay for steering command [s] + const double steer_time_constant_; //!< @brief time constant for steering dynamics + const double steer_bias_; //!< @brief steering angle bias [rad] + const std::string path_; //!< @brief conversion map path + + /** + * @brief set queue buffer for input command + * @param [in] dt delta time + */ + void initializeInputQueue(const double & dt); + + /** + * @brief get vehicle position x + */ + double getX() override; + + /** + * @brief get vehicle position y + */ + double getY() override; + + /** + * @brief get vehicle angle yaw + */ + double getYaw() override; + + /** + * @brief get vehicle velocity vx + */ + double getVx() override; + + /** + * @brief get vehicle lateral velocity + */ + double getVy() override; + + /** + * @brief get vehicle longitudinal acceleration + */ + double getAx() override; + + /** + * @brief get vehicle angular-velocity wz + */ + double getWz() override; + + /** + * @brief get vehicle steering angle + */ + double getSteer() override; + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double & dt) override; + + /** + * @brief calculate derivative of states with time delay steering model + * @param [in] state current model state + * @param [in] input input vector to model + */ + Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override; + + /** + * @brief update state considering current gear + * @param [in] state current state + * @param [in] prev_state previous state + * @param [in] gear current gear (defined in autoware_msgs/GearCommand) + * @param [in] dt delta time to update state + */ + void updateStateWithGear( + Eigen::VectorXd & state, const Eigen::VectorXd & prev_state, const uint8_t gear, + const double dt); +}; + +#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp index b83a831341ac1..ea0653c879727 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp @@ -53,7 +53,7 @@ class AccelerationMap double getAcceleration(const double acc_des, const double vel) const { std::vector interpolated_acc_vec; - const double clamped_vel = CSVLoader::clampValue(vel, vel_index_, "acc: vel"); + const double clamped_vel = CSVLoader::clampValue(vel, vel_index_); // (throttle, vel, acc) map => (throttle, acc) map by fixing vel for (const auto & acc_vec : acceleration_map_) { @@ -62,7 +62,7 @@ class AccelerationMap // calculate throttle // When the desired acceleration is smaller than the throttle area, return min acc // When the desired acceleration is greater than the throttle area, return max acc - const double clamped_acc = CSVLoader::clampValue(acc_des, acc_index_, "acceleration: acc"); + const double clamped_acc = CSVLoader::clampValue(acc_des, acc_index_); const double acc = interpolation::lerp(acc_index_, interpolated_acc_vec, clamped_acc); return acc; diff --git a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py index fd01f42928947..afdbeb120e2d3 100644 --- a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py +++ b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py @@ -14,11 +14,13 @@ import launch from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription from launch.actions import OpaqueFunction from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node import launch_ros.parameter_descriptions from launch_ros.substitutions import FindPackageShare +from launch_xml.launch_description_sources import XMLLaunchDescriptionSource import yaml @@ -57,6 +59,7 @@ def launch_setup(context, *args, **kwargs): ("input/vector_map", "/map/vector_map"), ("input/initialpose", "/initialpose3d"), ("input/ackermann_control_command", "/control/command/control_cmd"), + ("input/actuation_command", "/control/command/actuation_cmd"), ("input/manual_ackermann_control_command", "/vehicle/command/manual_control_cmd"), ("input/gear_command", "/control/command/gear_cmd"), ("input/manual_gear_command", "/vehicle/command/manual_gear_command"), @@ -77,7 +80,35 @@ def launch_setup(context, *args, **kwargs): ], ) - return [simple_planning_simulator_node] + # Determine if we should launch raw_vehicle_cmd_converter based on the vehicle_model_type + with open(simulator_model_param_path, "r") as f: + simulator_model_param_yaml = yaml.safe_load(f) + launch_vehicle_cmd_converter = ( + simulator_model_param_yaml["/**"]["ros__parameters"].get("vehicle_model_type") + == "ACTUATION_CMD" + ) + + # launch_vehicle_cmd_converter = False # tmp + + # 1) Launch only simple_planning_simulator_node + if not launch_vehicle_cmd_converter: + return [simple_planning_simulator_node] + # 2) Launch raw_vehicle_cmd_converter too + # vehicle_launch_pkg = LaunchConfiguration("vehicle_model").perform(context) + "_launch" + raw_vehicle_converter_node = IncludeLaunchDescription( + XMLLaunchDescriptionSource( + [ + FindPackageShare("autoware_raw_vehicle_cmd_converter"), + "/launch/raw_vehicle_converter.launch.xml", + ] + ), + launch_arguments={ + "config_file": LaunchConfiguration("raw_vehicle_cmd_converter_param_path").perform( + context + ), + }.items(), + ) + return [simple_planning_simulator_node, raw_vehicle_converter_node] def generate_launch_description(): @@ -123,4 +154,24 @@ def add_launch_arg(name: str, default_value=None, description=None): ], ) + # If you use the simulator of the actuation_cmd, you need to start the raw_vehicle_cmd_converter, and the following are optional parameters. + # Please specify the parameter for that. + # The default is the one from autoware_raw_vehicle_cmd_converter, but if you want to use a specific vehicle, please specify the one from {vehicle_model}_launch. + add_launch_arg( + "raw_vehicle_cmd_converter_param_path", + [ + FindPackageShare("autoware_raw_vehicle_cmd_converter"), + "/config/raw_vehicle_cmd_converter.param.yaml", + ], + ) + # NOTE: This is an argument that is not defined in the universe. + # If you use `{vehicle_model}_launch`, you may need to pass `csv_accel_brake_map_path`. + add_launch_arg( + "csv_accel_brake_map_path", + [ + FindPackageShare("autoware_raw_vehicle_cmd_converter"), + "/data/default", + ], + ) + return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)]) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 71771feaf78e7..3095e060a71bf 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -115,9 +115,6 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt "input/initialpose", QoS{1}, std::bind(&SimplePlanningSimulator::on_initialpose, this, _1)); sub_init_twist_ = create_subscription( "input/initialtwist", QoS{1}, std::bind(&SimplePlanningSimulator::on_initialtwist, this, _1)); - sub_ackermann_cmd_ = create_subscription( - "input/ackermann_control_command", QoS{1}, - [this](const Control::ConstSharedPtr msg) { current_ackermann_cmd_ = *msg; }); sub_manual_ackermann_cmd_ = create_subscription( "input/manual_ackermann_control_command", QoS{1}, [this](const Control::ConstSharedPtr msg) { current_manual_ackermann_cmd_ = *msg; }); @@ -144,6 +141,23 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt sub_engage_ = create_subscription( "input/engage", rclcpp::QoS{1}, std::bind(&SimplePlanningSimulator::on_engage, this, _1)); + // Determine input command type based on vehicle_model_type + // NOTE: + // Initial value must be set to current_input_command_ with the correct type. + // If not, the vehicle_model will not be updated, and it will die when publishing the state. + const auto vehicle_model_type_str = declare_parameter("vehicle_model_type", "IDEAL_STEER_VEL"); + if (vehicle_model_type_str == "ACTUATION_CMD") { + current_input_command_ = ActuationCommandStamped(); + sub_actuation_cmd_ = create_subscription( + "input/actuation_command", QoS{1}, + [this](const ActuationCommandStamped::ConstSharedPtr msg) { current_input_command_ = *msg; }); + } else { // default command type is ACKERMANN + current_input_command_ = Control(); + sub_ackermann_cmd_ = create_subscription( + "input/ackermann_control_command", QoS{1}, + [this](const Control::ConstSharedPtr msg) { current_input_command_ = *msg; }); + } + pub_control_mode_report_ = create_publisher("output/control_mode_report", QoS{1}); pub_gear_report_ = create_publisher("output/gear_report", QoS{1}); @@ -175,7 +189,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt rmw_qos_profile_services_default, group_api_service_); // set vehicle model type - initialize_vehicle_model(); + initialize_vehicle_model(vehicle_model_type_str); // set initialize source const auto initialize_source = declare_parameter("initialize_source", "INITIAL_POSE_TOPIC"); @@ -211,12 +225,8 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt current_manual_gear_cmd_.command = GearCommand::PARK; } -void SimplePlanningSimulator::initialize_vehicle_model() +void SimplePlanningSimulator::initialize_vehicle_model(const std::string & vehicle_model_type_str) { - const auto vehicle_model_type_str = declare_parameter("vehicle_model_type", "IDEAL_STEER_VEL"); - - RCLCPP_DEBUG(this->get_logger(), "vehicle_model_type = %s", vehicle_model_type_str.c_str()); - const double vel_lim = declare_parameter("vel_lim", 50.0); const double vel_rate_lim = declare_parameter("vel_rate_lim", 7.0); const double steer_lim = declare_parameter("steer_lim", 1.0); @@ -296,7 +306,30 @@ void SimplePlanningSimulator::initialize_vehicle_model() vehicle_model_ptr_ = std::make_shared( timer_sampling_time_ms_ / 1000.0, model_module_paths, model_param_paths, model_class_names); - + } else if (vehicle_model_type_str == "ACTUATION_CMD") { + vehicle_model_type_ = VehicleModelType::ACTUATION_CMD; + + // time delay + const double accel_time_delay = declare_parameter("accel_time_delay"); + const double accel_time_constant = declare_parameter("accel_time_constant"); + const double brake_time_delay = declare_parameter("brake_time_delay"); + const double brake_time_constant = declare_parameter("brake_time_constant"); + + // command conversion flag + const bool convert_accel_cmd = declare_parameter("convert_accel_cmd"); + const bool convert_brake_cmd = declare_parameter("convert_brake_cmd"); + const bool convert_steer_cmd = declare_parameter("convert_steer_cmd"); + + // actuation conversion map + const std::string accel_map_path = declare_parameter("accel_map_path"); + const std::string brake_map_path = declare_parameter("brake_map_path"); + const std::string steer_map_path = declare_parameter("steer_map_path"); + + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, timer_sampling_time_ms_ / 1000.0, + accel_time_delay, accel_time_constant, brake_time_delay, brake_time_constant, + steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, convert_brake_cmd, + convert_steer_cmd, accel_map_path, brake_map_path, steer_map_path); } else { throw std::invalid_argument("Invalid vehicle_model_type: " + vehicle_model_type_str); } @@ -378,7 +411,7 @@ void SimplePlanningSimulator::on_timer() if (current_control_mode_.mode == ControlModeReport::AUTONOMOUS) { vehicle_model_ptr_->setGear(current_gear_cmd_.command); - set_input(current_ackermann_cmd_, acc_by_slope); + set_input(current_input_command_, acc_by_slope); } else { vehicle_model_ptr_->setGear(current_manual_gear_cmd_.command); set_input(current_manual_ackermann_cmd_, acc_by_slope); @@ -473,6 +506,37 @@ void SimplePlanningSimulator::on_set_pose( response->status = tier4_api_utils::response_success(); } +void SimplePlanningSimulator::set_input(const InputCommand & cmd, const double acc_by_slope) +{ + std::visit( + [this, acc_by_slope](auto && arg) { + using T = std::decay_t; + if constexpr (std::is_same_v) { + set_input(arg, acc_by_slope); + } else if constexpr (std::is_same_v) { + set_input(arg, acc_by_slope); + } else { + throw std::invalid_argument("Invalid input command type"); + } + }, + cmd); +} + +void SimplePlanningSimulator::set_input( + const ActuationCommandStamped & cmd, const double acc_by_slope) +{ + const auto accel = cmd.actuation.accel_cmd; + const auto brake = cmd.actuation.brake_cmd; + const auto steer = cmd.actuation.steer_cmd; + const auto gear = vehicle_model_ptr_->getGear(); + + Eigen::VectorXd input(vehicle_model_ptr_->getDimU()); + input << accel, brake, acc_by_slope, steer, gear; + + // VehicleModelType::ACTUATION_COMMAND + vehicle_model_ptr_->setInput(input); +} + void SimplePlanningSimulator::set_input(const Control & cmd, const double acc_by_slope) { const auto steer = cmd.lateral.steering_tire_angle; @@ -612,7 +676,8 @@ void SimplePlanningSimulator::set_initial_state(const Pose & pose, const Twist & vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC || vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC_GEARED || vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC_GEARED_WO_FALL_GUARD || - vehicle_model_type_ == VehicleModelType::DELAY_STEER_MAP_ACC_GEARED) { + vehicle_model_type_ == VehicleModelType::DELAY_STEER_MAP_ACC_GEARED || + vehicle_model_type_ == VehicleModelType::ACTUATION_CMD) { state << x, y, yaw, vx, steer, accx; } vehicle_model_ptr_->setState(state); diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp index c9eb7a5a237fb..1189477a4f45b 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp @@ -26,6 +26,8 @@ CSVLoader::CSVLoader(const std::string & csv_path) bool CSVLoader::readCSV(Table & result, const char delim) { + // NOTE: Table[i][j] represents the element in the i-th row and j-th column + std::ifstream ifs(csv_path_); if (!ifs.is_open()) { std::cerr << "Cannot open " << csv_path_.c_str() << std::endl; @@ -119,6 +121,8 @@ Map CSVLoader::getMap(const Table & table) std::vector CSVLoader::getRowIndex(const Table & table) { + // NOTE: table[0][i] represents the element in the 0-th row and i-th column + // This means that we are getting the index of each column in the 0-th row std::vector index = {}; for (size_t i = 1; i < table[0].size(); i++) { index.push_back(std::stod(table[0][i])); @@ -128,6 +132,8 @@ std::vector CSVLoader::getRowIndex(const Table & table) std::vector CSVLoader::getColumnIndex(const Table & table) { + // NOTE: table[i][0] represents the element in the i-th row and 0-th column + // This means that we are getting the index of each row in the 0-th column std::vector index = {}; for (size_t i = 1; i < table.size(); i++) { index.push_back(std::stod(table[i][0])); @@ -135,15 +141,11 @@ std::vector CSVLoader::getColumnIndex(const Table & table) return index; } -double CSVLoader::clampValue( - const double val, const std::vector & ranges, const std::string & name) +double CSVLoader::clampValue(const double val, const std::vector & ranges) { const double max_value = *std::max_element(ranges.begin(), ranges.end()); const double min_value = *std::min_element(ranges.begin(), ranges.end()); if (val < min_value || max_value < val) { - std::cerr << "Input " << name << ": " << val - << " is out of range. use closest value. Please update the conversion map" - << std::endl; return std::min(std::max(val, min_value), max_value); } return val; diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp new file mode 100644 index 0000000000000..16eb6e86d778c --- /dev/null +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp @@ -0,0 +1,259 @@ +// Copyright 2024 The Autoware Foundation. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" + +#include "autoware_vehicle_msgs/msg/gear_command.hpp" + +#include + +bool ActuationMap::readActuationMapFromCSV(const std::string & csv_path, const bool validation) +{ + CSVLoader csv(csv_path); + std::vector> table; + + if (!csv.readCSV(table)) { + return false; + } + + state_index_ = CSVLoader::getRowIndex(table); + actuation_index_ = CSVLoader::getColumnIndex(table); + actuation_map_ = CSVLoader::getMap(table); + if (validation && !CSVLoader::validateMap(actuation_map_, true)) { + return false; + } + return true; +} + +double ActuationMap::getControlCommand(const double actuation, const double state) const +{ + std::vector interpolated_control_vec{}; + const double clamped_state = CSVLoader::clampValue(state, state_index_); + + for (std::vector control_command_values : actuation_map_) { + interpolated_control_vec.push_back( + interpolation::lerp(state_index_, control_command_values, clamped_state)); + } + + const double clamped_actuation = CSVLoader::clampValue(actuation, actuation_index_); + return interpolation::lerp(actuation_index_, interpolated_control_vec, clamped_actuation); +} + +SimModelActuationCmd::SimModelActuationCmd( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, + std::string accel_map_path, std::string brake_map_path, std::string steer_map_path) +: SimModelInterface(6 /* dim x */, 5 /* dim u */), + MIN_TIME_CONSTANT(0.03), + vx_lim_(vx_lim), + vx_rate_lim_(vx_rate_lim), + steer_lim_(steer_lim), + steer_rate_lim_(steer_rate_lim), + wheelbase_(wheelbase), + accel_delay_(accel_delay), + accel_time_constant_(std::max(accel_time_constant, MIN_TIME_CONSTANT)), + brake_delay_(brake_delay), + brake_time_constant_(std::max(brake_time_constant, MIN_TIME_CONSTANT)), + steer_delay_(steer_delay), + steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), + steer_bias_(steer_bias) +{ + initializeInputQueue(dt); + convert_accel_cmd_ = convert_accel_cmd && accel_map_.readActuationMapFromCSV(accel_map_path); + convert_brake_cmd_ = convert_brake_cmd && brake_map_.readActuationMapFromCSV(brake_map_path); + convert_steer_cmd_ = convert_steer_cmd && steer_map_.readActuationMapFromCSV(steer_map_path); +} + +double SimModelActuationCmd::getX() +{ + return state_(IDX::X); +} +double SimModelActuationCmd::getY() +{ + return state_(IDX::Y); +} +double SimModelActuationCmd::getYaw() +{ + return state_(IDX::YAW); +} +double SimModelActuationCmd::getVx() +{ + return state_(IDX::VX); +} +double SimModelActuationCmd::getVy() +{ + return 0.0; +} +double SimModelActuationCmd::getAx() +{ + return state_(IDX::ACCX); +} +double SimModelActuationCmd::getWz() +{ + return state_(IDX::VX) * std::tan(state_(IDX::STEER)) / wheelbase_; +} +double SimModelActuationCmd::getSteer() +{ + return state_(IDX::STEER) + steer_bias_; +} +void SimModelActuationCmd::update(const double & dt) +{ + Eigen::VectorXd delayed_input = Eigen::VectorXd::Zero(dim_u_); + + accel_input_queue_.push_back(input_(IDX_U::ACCEL_DES)); + delayed_input(IDX_U::ACCEL_DES) = accel_input_queue_.front(); + accel_input_queue_.pop_front(); + + brake_input_queue_.push_back(input_(IDX_U::BRAKE_DES)); + delayed_input(IDX_U::BRAKE_DES) = brake_input_queue_.front(); + brake_input_queue_.pop_front(); + + steer_input_queue_.push_back(input_(IDX_U::STEER_DES)); + delayed_input(IDX_U::STEER_DES) = steer_input_queue_.front(); + steer_input_queue_.pop_front(); + + delayed_input(IDX_U::GEAR) = input_(IDX_U::GEAR); + delayed_input(IDX_U::SLOPE_ACCX) = input_(IDX_U::SLOPE_ACCX); + + const auto prev_state = state_; + updateRungeKutta(dt, delayed_input); + + // take velocity limit explicitly + state_(IDX::VX) = std::max(-vx_lim_, std::min(state_(IDX::VX), vx_lim_)); + + // consider gear + // update position and velocity first, and then acceleration is calculated naturally + updateStateWithGear(state_, prev_state, gear_, dt); +} + +void SimModelActuationCmd::initializeInputQueue(const double & dt) +{ + const size_t accel_input_queue_size = static_cast(round(accel_delay_ / dt)); + accel_input_queue_.resize(accel_input_queue_size); + std::fill(accel_input_queue_.begin(), accel_input_queue_.end(), 0.0); + + const size_t brake_input_queue_size = static_cast(round(brake_delay_ / dt)); + brake_input_queue_.resize(brake_input_queue_size); + std::fill(brake_input_queue_.begin(), brake_input_queue_.end(), 0.0); + + const size_t steer_input_queue_size = static_cast(round(steer_delay_ / dt)); + steer_input_queue_.resize(steer_input_queue_size); + std::fill(steer_input_queue_.begin(), steer_input_queue_.end(), 0.0); +} + +Eigen::VectorXd SimModelActuationCmd::calcModel( + const Eigen::VectorXd & state, const Eigen::VectorXd & input) +{ + using autoware_vehicle_msgs::msg::GearCommand; + + const double vel = std::clamp(state(IDX::VX), -vx_lim_, vx_lim_); + const double yaw = state(IDX::YAW); + const double steer = state(IDX::STEER); + + const double accel = input(IDX_U::ACCEL_DES); + const double brake = input(IDX_U::BRAKE_DES); + const auto gear = input(IDX_U::GEAR); + + // 1) calculate acceleration by accel and brake command + const double acc_des = std::clamp( + std::invoke([&]() -> double { + // Select the non-zero value between accel and brake and calculate the acceleration + if (convert_accel_cmd_ && accel > 0.0) { + // convert accel command to acceleration + return accel_map_.getControlCommand(accel, vel); + } else if (convert_brake_cmd_ && brake > 0.0) { + // convert brake command to acceleration + return brake_map_.getControlCommand(brake, vel); + } else { + // if conversion is disabled, accel command is directly used as acceleration + return accel; + } + }), + -vx_rate_lim_, vx_rate_lim_); + // add slope acceleration considering the gear state + const double acc_by_slope = input(IDX_U::SLOPE_ACCX); + const double acc = std::invoke([&]() -> double { + if (gear == GearCommand::NONE || gear == GearCommand::PARK) { + return 0.0; + } else if (gear == GearCommand::REVERSE || gear == GearCommand::REVERSE_2) { + return -acc_des + acc_by_slope; + } + return acc_des + acc_by_slope; + }); + const double acc_time_constant = accel > 0.0 ? accel_time_constant_ : brake_time_constant_; + + // 2) calculate steering rate by steer command + const double steer_rate = std::clamp( + std::invoke([&]() -> double { + // if conversion is enabled, calculate steering rate from steer command + if (convert_steer_cmd_) { + // convert steer command to steer rate + return steer_map_.getControlCommand(input(IDX_U::STEER_DES), steer) / steer_time_constant_; + } + // otherwise, steer command is desired steering angle, so calculate steering rate from the + // difference between the desired steering angle and the current steering angle. + const double steer_des = std::clamp(input(IDX_U::STEER_DES), -steer_lim_, steer_lim_); + return -(getSteer() - steer_des) / steer_time_constant_; + }), + -steer_rate_lim_, steer_rate_lim_); + + Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); + d_state(IDX::X) = vel * cos(yaw); + d_state(IDX::Y) = vel * sin(yaw); + d_state(IDX::YAW) = vel * std::tan(steer) / wheelbase_; + d_state(IDX::VX) = acc; + d_state(IDX::STEER) = steer_rate; + d_state(IDX::ACCX) = -(acc - acc_des) / acc_time_constant; + + return d_state; +} + +void SimModelActuationCmd::updateStateWithGear( + Eigen::VectorXd & state, const Eigen::VectorXd & prev_state, const uint8_t gear, const double dt) +{ + using autoware_vehicle_msgs::msg::GearCommand; + if ( + gear == GearCommand::DRIVE || gear == GearCommand::DRIVE_2 || gear == GearCommand::DRIVE_3 || + gear == GearCommand::DRIVE_4 || gear == GearCommand::DRIVE_5 || gear == GearCommand::DRIVE_6 || + gear == GearCommand::DRIVE_7 || gear == GearCommand::DRIVE_8 || gear == GearCommand::DRIVE_9 || + gear == GearCommand::DRIVE_10 || gear == GearCommand::DRIVE_11 || + gear == GearCommand::DRIVE_12 || gear == GearCommand::DRIVE_13 || + gear == GearCommand::DRIVE_14 || gear == GearCommand::DRIVE_15 || + gear == GearCommand::DRIVE_16 || gear == GearCommand::DRIVE_17 || + gear == GearCommand::DRIVE_18 || gear == GearCommand::LOW || gear == GearCommand::LOW_2) { + if (state(IDX::VX) < 0.0) { + state(IDX::VX) = 0.0; + state(IDX::X) = prev_state(IDX::X); + state(IDX::Y) = prev_state(IDX::Y); + state(IDX::YAW) = prev_state(IDX::YAW); + state(IDX::ACCX) = (state(IDX::VX) - prev_state(IDX::VX)) / std::max(dt, 1.0e-5); + } + } else if (gear == GearCommand::REVERSE || gear == GearCommand::REVERSE_2) { + if (state(IDX::VX) > 0.0) { + state(IDX::VX) = 0.0; + state(IDX::X) = prev_state(IDX::X); + state(IDX::Y) = prev_state(IDX::Y); + state(IDX::YAW) = prev_state(IDX::YAW); + state(IDX::ACCX) = (state(IDX::VX) - prev_state(IDX::VX)) / std::max(dt, 1.0e-5); + } + } else { // including 'gear == GearCommand::PARK' + state(IDX::VX) = 0.0; + state(IDX::X) = prev_state(IDX::X); + state(IDX::Y) = prev_state(IDX::Y); + state(IDX::YAW) = prev_state(IDX::YAW); + state(IDX::ACCX) = (state(IDX::VX) - prev_state(IDX::VX)) / std::max(dt, 1.0e-5); + } +} diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/accel_map.csv b/simulator/simple_planning_simulator/test/actuation_cmd_map/accel_map.csv new file mode 100644 index 0000000000000..8b83ecf68d628 --- /dev/null +++ b/simulator/simple_planning_simulator/test/actuation_cmd_map/accel_map.csv @@ -0,0 +1,6 @@ +default,0.0,13.89 +0, 3.0, 2.9 +0.3, 4.0, 3.9 +0.5, 5.0, 4.9 +0.7, 8.0, 7.9 +1.0, 10.0, 9.9 diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/brake_map.csv b/simulator/simple_planning_simulator/test/actuation_cmd_map/brake_map.csv new file mode 100644 index 0000000000000..adf2c80950bb1 --- /dev/null +++ b/simulator/simple_planning_simulator/test/actuation_cmd_map/brake_map.csv @@ -0,0 +1,10 @@ +default,0.0, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 13.89 +0,0.3,-0.05,-0.3,-0.39,-0.4,-0.41,-0.42,-0.44,-0.46,-0.48,-0.5 +0.1,0.29,-0.06,-0.31,-0.4,-0.41,-0.42,-0.43,-0.45,-0.47,-0.49,-0.51 +0.2,-0.38,-0.4,-0.72,-0.8,-0.82,-0.85,-0.87,-0.89,-0.91,-0.94,-0.96 +0.3,-1,-1.04,-1.48,-1.55,-1.57,-1.59,-1.61,-1.63,-1.631,-1.632,-1.633 +0.4,-1.48,-1.5,-1.85,-2.05,-2.1,-2.101,-2.102,-2.103,-2.104,-2.105,-2.106 +0.5,-1.49,-1.51,-1.86,-2.06,-2.11,-2.111,-2.112,-2.113,-2.114,-2.115,-2.116 +0.6,-1.5,-1.52,-1.87,-2.07,-2.12,-2.121,-2.122,-2.123,-2.124,-2.125,-2.126 +0.7,-1.51,-1.53,-1.88,-2.08,-2.13,-2.131,-2.132,-2.133,-2.134,-2.135,-2.136 +0.8,-2.18,-2.2,-2.7,-2.8,-2.9,-2.95,-2.951,-2.952,-2.953,-2.954,-2.955 diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv b/simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv new file mode 100644 index 0000000000000..7adb0f6a9e583 --- /dev/null +++ b/simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv @@ -0,0 +1,4 @@ +default,-0.6,0,0.6 +-10,-0.03,-0.03,-0.03 +0,0.0,0.0,0.0 +10,0.03,0.03,0.03 diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index c61237f83e5bd..73762150f8e1d 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -12,10 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "ament_index_cpp/get_package_share_directory.hpp" #include "gtest/gtest.h" #include "simple_planning_simulator/simple_planning_simulator_core.hpp" #include "tf2/utils.h" +#include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp" + #ifdef ROS_DISTRO_GALACTIC #include "tf2_geometry_msgs/tf2_geometry_msgs.h" #else @@ -28,7 +31,9 @@ using autoware_control_msgs::msg::Control; using autoware_vehicle_msgs::msg::GearCommand; using geometry_msgs::msg::PoseWithCovarianceStamped; using nav_msgs::msg::Odometry; +using tier4_vehicle_msgs::msg::ActuationCommandStamped; +using simulation::simple_planning_simulator::InputCommand; using simulation::simple_planning_simulator::SimplePlanningSimulator; std::string toStrInfo(const Odometry & o) @@ -42,6 +47,23 @@ std::string toStrInfo(const Odometry & o) return ss.str(); } +enum class CommandType { Ackermann, Actuation }; + +struct Ackermann +{ + double steer = 0.0; + double steer_rate = 0.0; + double vel = 0.0; + double acc = 0.0; + double jerk = 0.0; +}; +struct Actuation +{ + double steer = 0.0; + double accel = 0.0; + double brake = 0.0; +}; + class PubSubNode : public rclcpp::Node { public: @@ -52,6 +74,8 @@ class PubSubNode : public rclcpp::Node [this](const Odometry::ConstSharedPtr msg) { current_odom_ = msg; }); pub_ackermann_command_ = create_publisher("input/ackermann_control_command", rclcpp::QoS{1}); + pub_actuation_command_ = + create_publisher("input/actuation_command", rclcpp::QoS{1}); pub_initialpose_ = create_publisher("input/initialpose", rclcpp::QoS{1}); pub_gear_cmd_ = create_publisher("input/gear_command", rclcpp::QoS{1}); @@ -59,6 +83,7 @@ class PubSubNode : public rclcpp::Node rclcpp::Subscription::SharedPtr current_odom_sub_; rclcpp::Publisher::SharedPtr pub_ackermann_command_; + rclcpp::Publisher::SharedPtr pub_actuation_command_; rclcpp::Publisher::SharedPtr pub_gear_cmd_; rclcpp::Publisher::SharedPtr pub_initialpose_; @@ -74,19 +99,35 @@ class PubSubNode : public rclcpp::Node * @param [in] acc [m/s²] acceleration * @param [in] jerk [m/s3] jerk */ -Control cmdGen( - const builtin_interfaces::msg::Time & t, double steer, double steer_rate, double vel, double acc, - double jerk) +Control ackermannCmdGen(const builtin_interfaces::msg::Time & t, const Ackermann & ackermann_cmd) { Control cmd; cmd.stamp = t; cmd.lateral.stamp = t; - cmd.lateral.steering_tire_angle = steer; - cmd.lateral.steering_tire_rotation_rate = steer_rate; + cmd.lateral.steering_tire_angle = ackermann_cmd.steer; + cmd.lateral.steering_tire_rotation_rate = ackermann_cmd.steer_rate; cmd.longitudinal.stamp = t; - cmd.longitudinal.velocity = vel; - cmd.longitudinal.acceleration = acc; - cmd.longitudinal.jerk = jerk; + cmd.longitudinal.velocity = ackermann_cmd.vel; + cmd.longitudinal.acceleration = ackermann_cmd.acc; + cmd.longitudinal.jerk = ackermann_cmd.jerk; + return cmd; +} + +/** + * @brief Generate an ActuationCommandStamped message + * @param [in] t timestamp + * @param [in] accel_cmd accel actuation command + * @param [in] brake_cmd brake actuation command + * @param [in] steer_cmd steer actuation command + */ +ActuationCommandStamped actuationCmdGen( + const builtin_interfaces::msg::Time & t, const Actuation & actuation_cmd) +{ + ActuationCommandStamped cmd; + cmd.header.stamp = t; + cmd.actuation.accel_cmd = actuation_cmd.accel; + cmd.actuation.brake_cmd = actuation_cmd.brake; + cmd.actuation.steer_cmd = actuation_cmd.steer; return cmd; } @@ -120,14 +161,17 @@ void sendGear( /** * @brief publish the given command message - * @param [in] cmd command to publish + * @param [in] cmd_orig command to publish * @param [in] sim_node pointer to the simulation node * @param [in] pub_sub_node pointer to the node used for communication */ -void sendCommand( - const Control & cmd, rclcpp::Node::SharedPtr sim_node, std::shared_ptr pub_sub_node) +void sendAckermannCommand( + const Control & cmd_orig, rclcpp::Node::SharedPtr sim_node, + std::shared_ptr pub_sub_node) { + auto cmd = cmd_orig; for (int i = 0; i < 150; ++i) { + cmd.stamp = sim_node->now(); pub_sub_node->pub_ackermann_command_->publish(cmd); rclcpp::spin_some(sim_node); rclcpp::spin_some(pub_sub_node); @@ -135,6 +179,34 @@ void sendCommand( } } +void sendActuationCommand( + const ActuationCommandStamped & cmd_orig, rclcpp::Node::SharedPtr sim_node, + std::shared_ptr pub_sub_node) +{ + auto cmd = cmd_orig; + for (int i = 0; i < 150; ++i) { + cmd.header.stamp = sim_node->now(); + pub_sub_node->pub_actuation_command_->publish(cmd); + rclcpp::spin_some(sim_node); + rclcpp::spin_some(pub_sub_node); + std::this_thread::sleep_for(std::chrono::milliseconds{10LL}); + } +} + +void sendCommand( + const CommandType & cmd_type, rclcpp::Node::SharedPtr sim_node, + std::shared_ptr pub_sub_node, const builtin_interfaces::msg::Time & t, + const Ackermann & ackermann_cmd, const Actuation & actuation_cmd) +{ + if (cmd_type == CommandType::Ackermann) { + sendAckermannCommand(ackermannCmdGen(t, ackermann_cmd), sim_node, pub_sub_node); + } else if (cmd_type == CommandType::Actuation) { + sendActuationCommand(actuationCmdGen(t, actuation_cmd), sim_node, pub_sub_node); + } else { + throw std::invalid_argument("command type is unexpected."); + } +} + // Check which direction the vehicle is heading on the baselink coordinates. // y // | @@ -195,7 +267,8 @@ void declareVehicleInfoParams(rclcpp::NodeOptions & node_options) // Send a control command and run the simulation. // Then check if the vehicle is moving in the desired direction. -class TestSimplePlanningSimulator : public ::testing::TestWithParam +class TestSimplePlanningSimulator +: public ::testing::TestWithParam> { }; @@ -203,7 +276,9 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) { rclcpp::init(0, nullptr); - const auto vehicle_model_type = GetParam(); + const auto params = GetParam(); + const auto command_type = std::get<0>(params); + const auto vehicle_model_type = std::get<1>(params); std::cout << "\n\n vehicle model = " << vehicle_model_type << std::endl << std::endl; rclcpp::NodeOptions node_options; @@ -211,6 +286,21 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) node_options.append_parameter_override("vehicle_model_type", vehicle_model_type); node_options.append_parameter_override("initial_engage_state", true); node_options.append_parameter_override("add_measurement_noise", false); + node_options.append_parameter_override("accel_time_delay", 0.2); + node_options.append_parameter_override("accel_time_constant", 0.2); + node_options.append_parameter_override("brake_time_delay", 0.2); + node_options.append_parameter_override("brake_time_constant", 0.2); + node_options.append_parameter_override("convert_accel_cmd", true); + node_options.append_parameter_override("convert_brake_cmd", true); + node_options.append_parameter_override("convert_steer_cmd", true); + const auto share_dir = ament_index_cpp::get_package_share_directory("simple_planning_simulator"); + const auto accel_map_path = share_dir + "/test/actuation_cmd_map/accel_map.csv"; + const auto brake_map_path = share_dir + "/test/actuation_cmd_map/brake_map.csv"; + const auto steer_map_path = share_dir + "/test/actuation_cmd_map/steer_map.csv"; + node_options.append_parameter_override("accel_map_path", accel_map_path); + node_options.append_parameter_override("brake_map_path", brake_map_path); + node_options.append_parameter_override("steer_map_path", steer_map_path); + declareVehicleInfoParams(node_options); const auto sim_node = std::make_shared(node_options); @@ -220,15 +310,31 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) const double target_acc = 5.0f; const double target_steer = 0.2f; + // NOTE: As the value of the actuation map is known, roughly determine whether it is + // acceleration or braking, and whether it turns left or right, and generate an actuation + // command. So do not change the map. If it is necessary, you need to change this parameters as + // well. + const double target_steer_actuation = 10.0f; + const double target_accel_actuation = 0.5f; + // const double target_brake_actuation = 0.5f; // unused for now. + auto _resetInitialpose = [&]() { resetInitialpose(sim_node, pub_sub_node); }; auto _sendFwdGear = [&]() { sendGear(GearCommand::DRIVE, sim_node, pub_sub_node); }; auto _sendBwdGear = [&]() { sendGear(GearCommand::REVERSE, sim_node, pub_sub_node); }; - auto _sendCommand = [&](const auto & _cmd) { sendCommand(_cmd, sim_node, pub_sub_node); }; + auto _sendCommand = [&](auto ackermann_cmd, auto actuation_cmd) { + const auto t = sim_node->now(); + sendCommand(command_type, sim_node, pub_sub_node, t, ackermann_cmd, actuation_cmd); + }; // check pub-sub connections { size_t expected = 1; - EXPECT_EQ(pub_sub_node->pub_ackermann_command_->get_subscription_count(), expected); + // actuation or ackermann must be subscribed + const auto sub_command_count = + (command_type == CommandType::Actuation) + ? pub_sub_node->pub_actuation_command_->get_subscription_count() + : pub_sub_node->pub_ackermann_command_->get_subscription_count(); + EXPECT_EQ(sub_command_count, expected); EXPECT_EQ(pub_sub_node->pub_gear_cmd_->get_subscription_count(), expected); EXPECT_EQ(pub_sub_node->pub_initialpose_->get_subscription_count(), expected); EXPECT_EQ(pub_sub_node->current_odom_sub_->get_publisher_count(), expected); @@ -241,39 +347,50 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) // go forward _resetInitialpose(); _sendFwdGear(); - _sendCommand(cmdGen(sim_node->now(), 0.0f, 0.0f, target_vel, target_acc, 0.0f)); + _sendCommand( + Ackermann{0.0f, 0.0f, target_vel, target_acc, 0.0f}, + Actuation{0.0f, target_accel_actuation, 0.0f}); isOnForward(*(pub_sub_node->current_odom_), init_state); // go backward // NOTE: positive acceleration with reverse gear drives the vehicle backward. _resetInitialpose(); _sendBwdGear(); - _sendCommand(cmdGen(sim_node->now(), 0.0f, 0.0f, -target_vel, target_acc, 0.0f)); + _sendCommand( + Ackermann{0.0f, 0.0f, -target_vel, target_acc, 0.0f}, + Actuation{0.0f, target_accel_actuation, 0.0f}); isOnBackward(*(pub_sub_node->current_odom_), init_state); // go forward left _resetInitialpose(); _sendFwdGear(); - _sendCommand(cmdGen(sim_node->now(), target_steer, 0.0f, target_vel, target_acc, 0.0f)); + _sendCommand( + Ackermann{target_steer, 0.0f, target_vel, target_acc, 0.0f}, + Actuation{target_steer_actuation, target_accel_actuation, 0.0f}); isOnForwardLeft(*(pub_sub_node->current_odom_), init_state); // go backward right // NOTE: positive acceleration with reverse gear drives the vehicle backward. _resetInitialpose(); _sendBwdGear(); - _sendCommand(cmdGen(sim_node->now(), -target_steer, 0.0f, -target_vel, target_acc, 0.0f)); + _sendCommand( + Ackermann{-target_steer, 0.0f, -target_vel, target_acc, 0.0f}, + Actuation{-target_steer_actuation, target_accel_actuation, 0.0f}); isOnBackwardRight(*(pub_sub_node->current_odom_), init_state); rclcpp::shutdown(); } -// clang-format off -const std::string VEHICLE_MODEL_LIST[] = { // NOLINT - "IDEAL_STEER_VEL", "IDEAL_STEER_ACC", "IDEAL_STEER_ACC_GEARED", - "DELAY_STEER_VEL", "DELAY_STEER_ACC", "DELAY_STEER_ACC_GEARED", - "DELAY_STEER_ACC_GEARED_WO_FALL_GUARD" -}; -// clang-format on - INSTANTIATE_TEST_SUITE_P( - TestForEachVehicleModel, TestSimplePlanningSimulator, ::testing::ValuesIn(VEHICLE_MODEL_LIST)); + TestForEachVehicleModelTrue, TestSimplePlanningSimulator, + ::testing::Values( + /* Ackermann type */ + std::make_tuple(CommandType::Ackermann, "IDEAL_STEER_VEL"), + std::make_tuple(CommandType::Ackermann, "IDEAL_STEER_ACC"), + std::make_tuple(CommandType::Ackermann, "IDEAL_STEER_ACC_GEARED"), + std::make_tuple(CommandType::Ackermann, "DELAY_STEER_VEL"), + std::make_tuple(CommandType::Ackermann, "DELAY_STEER_ACC"), + std::make_tuple(CommandType::Ackermann, "DELAY_STEER_ACC_GEARED"), + std::make_tuple(CommandType::Ackermann, "DELAY_STEER_ACC_GEARED_WO_FALL_GUARD"), + /* Actuation type */ + std::make_tuple(CommandType::Actuation, "ACTUATION_CMD"))); From 57a8977ca5c431215859369401adbdcc969bff25 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 16:58:53 +0900 Subject: [PATCH 247/306] fix(autoware_operation_mode_transition_manager): fix funcArgNamesDifferent (#7997) fix: funcArgNamesDifferent_con-1 Signed-off-by: kobayu858 --- control/autoware_operation_mode_transition_manager/src/node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control/autoware_operation_mode_transition_manager/src/node.hpp b/control/autoware_operation_mode_transition_manager/src/node.hpp index d69d79f9640d8..d9b8eaebc4ead 100644 --- a/control/autoware_operation_mode_transition_manager/src/node.hpp +++ b/control/autoware_operation_mode_transition_manager/src/node.hpp @@ -59,7 +59,7 @@ class OperationModeTransitionManager : public rclcpp::Node void onTimer(); void publishData(); void changeControlMode(ControlModeCommandType mode); - void changeOperationMode(std::optional mode); + void changeOperationMode(std::optional request_mode); void cancelTransition(); void processTransition(); From b9f41c28d54a88249412bd5d864370db422f81bc Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 16:59:21 +0900 Subject: [PATCH 248/306] fix(autoware_static_centerline_generator): fix funcArgNamesDifferent (#8019) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- planning/autoware_static_centerline_generator/src/utils.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/autoware_static_centerline_generator/src/utils.hpp b/planning/autoware_static_centerline_generator/src/utils.hpp index e7fd51b30e658..be60f6249e93f 100644 --- a/planning/autoware_static_centerline_generator/src/utils.hpp +++ b/planning/autoware_static_centerline_generator/src/utils.hpp @@ -39,8 +39,8 @@ geometry_msgs::msg::Pose get_center_pose( PathWithLaneId get_path_with_lane_id( const RouteHandler & route_handler, const lanelet::ConstLanelets lanelets, - const geometry_msgs::msg::Pose & start_pose, const double nearest_ego_dist_threshold, - const double nearest_ego_yaw_threshold); + const geometry_msgs::msg::Pose & start_pose, const double ego_nearest_dist_threshold, + const double ego_nearest_yaw_threshold); void update_centerline( lanelet::LaneletMapPtr lanelet_map_ptr, const lanelet::ConstLanelets & lanelets, From 500aa27d8bc7f6029ccb8e839434cc5194024aad Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 16:59:49 +0900 Subject: [PATCH 249/306] fix(pointcloud_preprocessor): fix constParameterReference (#8053) fix:constParameterReference Signed-off-by: kobayu858 --- .../concatenate_data/concatenate_and_time_sync_nodelet.cpp | 6 +++--- .../src/concatenate_data/concatenate_pointclouds.cpp | 6 +++--- .../src/time_synchronizer/time_synchronizer_nodelet.cpp | 6 +++--- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index 62c41bd5252fa..65f9da28406d1 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -503,17 +503,17 @@ void PointCloudConcatenateDataSynchronizerComponent::convertToXYZIRCCloud( output_modifier.reserve(input_ptr->width); bool has_valid_intensity = - std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](const auto & field) { return field.name == "intensity" && field.datatype == sensor_msgs::msg::PointField::UINT8; }); bool has_valid_return_type = - std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](const auto & field) { return field.name == "return_type" && field.datatype == sensor_msgs::msg::PointField::UINT8; }); bool has_valid_channel = - std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](const auto & field) { return field.name == "channel" && field.datatype == sensor_msgs::msg::PointField::UINT16; }); diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index a54ec123c154f..225c3bb6e60f7 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -338,17 +338,17 @@ void PointCloudConcatenationComponent::convertToXYZIRCCloud( output_modifier.reserve(input_ptr->width); bool has_valid_intensity = - std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](const auto & field) { return field.name == "intensity" && field.datatype == sensor_msgs::msg::PointField::UINT8; }); bool has_valid_return_type = - std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](const auto & field) { return field.name == "return_type" && field.datatype == sensor_msgs::msg::PointField::UINT8; }); bool has_valid_channel = - std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](const auto & field) { return field.name == "channel" && field.datatype == sensor_msgs::msg::PointField::UINT16; }); diff --git a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp index 7816e9d4b325a..11a5021191dc3 100644 --- a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp @@ -441,17 +441,17 @@ void PointCloudDataSynchronizerComponent::convertToXYZIRCCloud( output_modifier.reserve(input_ptr->width); bool has_valid_intensity = - std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](const auto & field) { return field.name == "intensity" && field.datatype == sensor_msgs::msg::PointField::UINT8; }); bool has_valid_return_type = - std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](const auto & field) { return field.name == "return_type" && field.datatype == sensor_msgs::msg::PointField::UINT8; }); bool has_valid_channel = - std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](auto & field) { + std::any_of(input_ptr->fields.begin(), input_ptr->fields.end(), [](const auto & field) { return field.name == "channel" && field.datatype == sensor_msgs::msg::PointField::UINT16; }); From 3eaf97481edaa29143bf86327ac9ebaf4a96cbf1 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 19 Jul 2024 17:15:22 +0900 Subject: [PATCH 250/306] refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (#7443) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. Signed-off-by: Y.Hisaki * use raw shared ptr in PollingPolicy::NEWEST Signed-off-by: Y.Hisaki * update Signed-off-by: Y.Hisaki * fix Signed-off-by: Y.Hisaki * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp Co-authored-by: danielsanchezaran Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki Co-authored-by: danielsanchezaran --- .../examples/example_polling_subscriber.cpp | 87 ++++++ .../universe_utils/ros/polling_subscriber.hpp | 275 ++++++++++++------ .../lane_departure_checker_node.hpp | 5 +- .../lane_departure_checker_node.cpp | 2 +- .../control_evaluator_node.hpp | 10 +- .../src/control_evaluator_node.cpp | 4 +- .../planning_evaluator_node.hpp | 10 +- .../src/planning_evaluator_node.cpp | 4 +- .../autoware/scenario_selector/node.hpp | 7 +- .../autoware/velocity_smoother/node.hpp | 3 +- .../autoware_velocity_smoother/src/node.cpp | 2 +- .../behavior_path_planner_node.hpp | 10 +- .../src/behavior_path_planner_node.cpp | 4 +- 13 files changed, 303 insertions(+), 120 deletions(-) create mode 100644 common/autoware_universe_utils/examples/example_polling_subscriber.cpp diff --git a/common/autoware_universe_utils/examples/example_polling_subscriber.cpp b/common/autoware_universe_utils/examples/example_polling_subscriber.cpp new file mode 100644 index 0000000000000..d078da6df43af --- /dev/null +++ b/common/autoware_universe_utils/examples/example_polling_subscriber.cpp @@ -0,0 +1,87 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/universe_utils/ros/polling_subscriber.hpp" + +#include + +#include + +// PublisherNode class definition +class PublisherNode : public rclcpp::Node +{ +public: + PublisherNode() : Node("publisher_node") + { + publisher_ = this->create_publisher("topic", 10); + timer_ = this->create_wall_timer( + std::chrono::milliseconds(100), std::bind(&PublisherNode::publish_message, this)); + } + +private: + void publish_message() + { + auto message = std_msgs::msg::String(); + message.data = "Hello from publisher node"; + publisher_->publish(message); + } + + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::TimerBase::SharedPtr timer_; +}; + +// SubscriberNode class definition +class SubscriberNode : public rclcpp::Node +{ +public: + SubscriberNode() : Node("subscriber_node") + { + subscription_ = autoware::universe_utils::InterProcessPollingSubscriber< + std_msgs::msg::String>::create_subscription(this, "topic"); + + timer_ = this->create_wall_timer( + std::chrono::milliseconds(500), std::bind(&SubscriberNode::timer_callback, this)); + } + +private: + void timer_callback() const + { + auto msg = subscription_->takeData(); + if (msg) { + RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); + } + } + + autoware::universe_utils::InterProcessPollingSubscriber::SharedPtr + subscription_; + + rclcpp::TimerBase::SharedPtr timer_; +}; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + + auto publisher_node = std::make_shared(); + auto subscriber_node = std::make_shared(); + + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(publisher_node); + executor.add_node(subscriber_node); + + executor.spin(); + + rclcpp::shutdown(); + return 0; +} diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/ros/polling_subscriber.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/polling_subscriber.hpp index 1b7ea0bd69951..682c6763196c7 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/ros/polling_subscriber.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/polling_subscriber.hpp @@ -11,7 +11,6 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - #ifndef AUTOWARE__UNIVERSE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ #define AUTOWARE__UNIVERSE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ @@ -20,12 +19,15 @@ #include #include #include -#include #include namespace autoware::universe_utils { +/** + * @brief Creates a SensorDataQoS profile with a single depth. + * @return rclcpp::SensorDataQoS The QoS profile with depth set to 1. + */ inline rclcpp::SensorDataQoS SingleDepthSensorQoS() { rclcpp::SensorDataQoS qos; @@ -33,132 +35,219 @@ inline rclcpp::SensorDataQoS SingleDepthSensorQoS() return qos; } -template -class InterProcessPollingSubscriber; - -template -class InterProcessPollingSubscriber::type> +namespace polling_policy { -public: - using SharedPtr = - std::shared_ptr::type>>; - static SharedPtr create_subscription( - rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1}) - { - return std::make_shared>(node, topic_name, qos); - } +/** + * @brief Polling policy that keeps the latest received message. + * + * This policy retains the latest received message and provides it when requested. If a new message + * is received, it overwrites the previously stored message. + * + * @tparam MessageT The message type. + */ +template +class Latest +{ private: - typename rclcpp::Subscription::SharedPtr subscriber_; - typename T::SharedPtr data_; - -public: - explicit InterProcessPollingSubscriber( - rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1}) + typename MessageT::ConstSharedPtr data_{nullptr}; ///< Data pointer to store the latest data + +protected: + /** + * @brief Check the QoS settings for the subscription. + * + * @param qos The QoS profile to check. + * @throws std::invalid_argument If the QoS depth is not 1. + */ + void checkQoS(const rclcpp::QoS & qos) { - auto noexec_callback_group = - node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false); - auto noexec_subscription_options = rclcpp::SubscriptionOptions(); - noexec_subscription_options.callback_group = noexec_callback_group; - - subscriber_ = node->create_subscription( - topic_name, qos, - [node]([[maybe_unused]] const typename T::ConstSharedPtr msg) { assert(false); }, - noexec_subscription_options); if (qos.get_rmw_qos_profile().depth > 1) { throw std::invalid_argument( "InterProcessPollingSubscriber will be used with depth > 1, which may cause inefficient " "serialization while updateLatestData()"); } - }; - /* - * @brief take and return the latest data from DDS queue if such data existed, otherwise return - * previous taken data("stale" data) - * @note if you want to ignore "stale" data, you should use takeNewData() - * instead - */ - typename T::ConstSharedPtr takeData() - { - auto new_data = std::make_shared(); - rclcpp::MessageInfo message_info; - const bool success = subscriber_->take(*new_data, message_info); - if (success) { - data_ = new_data; - } + } - return data_; - }; +public: + /** + * @brief Retrieve the latest data. If no new data has been received, the previously received data + * + * @return typename MessageT::ConstSharedPtr The latest data. + */ + typename MessageT::ConstSharedPtr takeData(); +}; - /* - * @brief take and return the latest data from DDS queue if such data existed, otherwise return - * nullptr instead - * @note this API allows you to avoid redundant computation on the taken data which is unchanged - * since the previous cycle +/** + * @brief Polling policy that keeps the newest received message. + * + * @tparam MessageT The message type. + */ +template +class Newest +{ +protected: + /** + * @brief Check the QoS settings for the subscription. + * + * @param qos The QoS profile to check. + * @throws std::invalid_argument If the QoS depth is not 1. */ - typename T::ConstSharedPtr takeNewData() + void checkQoS(const rclcpp::QoS & qos) { - auto new_data = std::make_shared(); - rclcpp::MessageInfo message_info; - const bool success = subscriber_->take(*new_data, message_info); - if (success) { - data_ = new_data; - return data_; - } else { - return nullptr; + if (qos.get_rmw_qos_profile().depth > 1) { + throw std::invalid_argument( + "InterProcessPollingSubscriber will be used with depth > 1, which may cause inefficient " + "serialization while updateLatestData()"); } } + +public: + /** + * @brief Retrieve the newest data. If no new data has been received, nullptr is returned. + * + * @return typename MessageT::ConstSharedPtr The newest data. + */ + typename MessageT::ConstSharedPtr takeData(); }; -template -class InterProcessPollingSubscriber= 2)>::type> +/** + * @brief Polling policy that keeps all received messages. + * + * @tparam MessageT The message type. + */ +template +class All { +protected: + /** + * @brief Check the QoS settings for the subscription. + * + * @param qos The QoS profile to check. + */ + void checkQoS(const rclcpp::QoS &) {} + public: - using SharedPtr = - std::shared_ptr= 2)>::type>>; - static SharedPtr create_subscription( - rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{N}) - { - return std::make_shared>(node, topic_name, qos); - } + /** + * @brief Retrieve all data. + * + * @return std::vector The list of all received data. + */ + std::vector takeData(); +}; + +} // namespace polling_policy + +/** + * @brief Subscriber class that uses a specified polling policy. + * + * @tparam MessageT The message type. + * @tparam PollingPolicy The polling policy to use. + */ +template class PollingPolicy = polling_policy::Latest> +class InterProcessPollingSubscriber : public PollingPolicy +{ + friend PollingPolicy; private: - typename rclcpp::Subscription::SharedPtr subscriber_; + typename rclcpp::Subscription::SharedPtr subscriber_; ///< Subscription object public: + using SharedPtr = std::shared_ptr>; + + /** + * @brief Construct a new InterProcessPollingSubscriber object. + * + * @param node The node to attach the subscriber to. + * @param topic_name The topic name to subscribe to. + * @param qos The QoS profile to use for the subscription. + */ explicit InterProcessPollingSubscriber( - rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{N}) + rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1}) { + this->checkQoS(qos); + auto noexec_callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false); + auto noexec_subscription_options = rclcpp::SubscriptionOptions(); noexec_subscription_options.callback_group = noexec_callback_group; - subscriber_ = node->create_subscription( + subscriber_ = node->create_subscription( topic_name, qos, - [node]([[maybe_unused]] const typename T::ConstSharedPtr msg) { assert(false); }, + [node]([[maybe_unused]] const typename MessageT::ConstSharedPtr msg) { assert(false); }, noexec_subscription_options); - if (qos.get_rmw_qos_profile().depth < N) { - throw std::invalid_argument( - "InterProcessPollingSubscriber will be used with depth == " + std::to_string(N) + - ", which may cause inefficient serialization while updateLatestData()"); - } - }; - std::vector takeData() + } + + /** + * @brief Create a subscription. + * + * @param node The node to attach the subscriber to. + * @param topic_name The topic name to subscribe to. + * @param qos The QoS profile to use for the subscription. + * @return SharedPtr The created subscription. + */ + static SharedPtr create_subscription( + rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1}) { - std::vector data; - rclcpp::MessageInfo message_info; - for (int i = 0; i < N; ++i) { - auto datum = std::make_shared(); - if (subscriber_->take(*datum, message_info)) { - data.push_back(datum); - } else { - break; - } - } - return data; - }; + return std::make_shared>( + node, topic_name, qos); + } + + typename rclcpp::Subscription::SharedPtr subscriber() { return subscriber_; } }; +namespace polling_policy +{ + +template +typename MessageT::ConstSharedPtr Latest::takeData() +{ + auto & subscriber = + static_cast *>(this)->subscriber_; + auto new_data = std::make_shared(); + rclcpp::MessageInfo message_info; + const bool success = subscriber->take(*new_data, message_info); + if (success) { + data_ = new_data; + } + + return data_; +} + +template +typename MessageT::ConstSharedPtr Newest::takeData() +{ + auto & subscriber = + static_cast *>(this)->subscriber_; + auto new_data = std::make_shared(); + rclcpp::MessageInfo message_info; + const bool success = subscriber->take(*new_data, message_info); + if (success) { + return new_data; + } + return nullptr; +} + +template +std::vector All::takeData() +{ + auto & subscriber = + static_cast *>(this)->subscriber_; + std::vector data; + rclcpp::MessageInfo message_info; + for (;;) { + auto datum = std::make_shared(); + if (subscriber->take(*datum, message_info)) { + data.push_back(datum); + } else { + break; + } + } + return data; +} + +} // namespace polling_policy + } // namespace autoware::universe_utils #endif // AUTOWARE__UNIVERSE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp index 876797a58df25..5364938102bf6 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp @@ -69,8 +69,9 @@ class LaneDepartureCheckerNode : public rclcpp::Node // Subscriber autoware::universe_utils::InterProcessPollingSubscriber sub_odom_{ this, "~/input/odometry"}; - autoware::universe_utils::InterProcessPollingSubscriber sub_lanelet_map_bin_{ - this, "~/input/lanelet_map_bin", rclcpp::QoS{1}.transient_local()}; + autoware::universe_utils::InterProcessPollingSubscriber< + LaneletMapBin, autoware::universe_utils::polling_policy::Newest> + sub_lanelet_map_bin_{this, "~/input/lanelet_map_bin", rclcpp::QoS{1}.transient_local()}; autoware::universe_utils::InterProcessPollingSubscriber sub_route_{ this, "~/input/route"}; autoware::universe_utils::InterProcessPollingSubscriber sub_reference_trajectory_{ diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp index 27b636f07d4ef..c079f014cfdee 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp @@ -261,7 +261,7 @@ void LaneDepartureCheckerNode::onTimer() reference_trajectory_ = sub_reference_trajectory_.takeData(); predicted_trajectory_ = sub_predicted_trajectory_.takeData(); - const auto lanelet_map_bin_msg = sub_lanelet_map_bin_.takeNewData(); + const auto lanelet_map_bin_msg = sub_lanelet_map_bin_.takeData(); if (lanelet_map_bin_msg) { lanelet_map_ = std::make_shared(); lanelet::utils::conversion::fromBinMsg( diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index 614f1d66b9e0d..e2437e614d211 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -79,10 +79,12 @@ class ControlEvaluatorNode : public rclcpp::Node this, "~/input/acceleration"}; autoware::universe_utils::InterProcessPollingSubscriber traj_sub_{ this, "~/input/trajectory"}; - autoware::universe_utils::InterProcessPollingSubscriber route_subscriber_{ - this, "~/input/route", rclcpp::QoS{1}.transient_local()}; - autoware::universe_utils::InterProcessPollingSubscriber vector_map_subscriber_{ - this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; + autoware::universe_utils::InterProcessPollingSubscriber< + LaneletRoute, autoware::universe_utils::polling_policy::Newest> + route_subscriber_{this, "~/input/route", rclcpp::QoS{1}.transient_local()}; + autoware::universe_utils::InterProcessPollingSubscriber< + LaneletMapBin, autoware::universe_utils::polling_policy::Newest> + vector_map_subscriber_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; rclcpp::Publisher::SharedPtr metrics_pub_; diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index 47706ed56cd7a..c14878a3c6f7e 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -47,7 +47,7 @@ void ControlEvaluatorNode::getRouteData() { // route { - const auto msg = route_subscriber_.takeNewData(); + const auto msg = route_subscriber_.takeData(); if (msg) { if (msg->segments.empty()) { RCLCPP_ERROR(get_logger(), "input route is empty. ignored"); @@ -59,7 +59,7 @@ void ControlEvaluatorNode::getRouteData() // map { - const auto msg = vector_map_subscriber_.takeNewData(); + const auto msg = vector_map_subscriber_.takeData(); if (msg) { route_handler_.setMap(*msg); } diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index e15427c59ce06..05db3a261ce04 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -154,10 +154,12 @@ class PlanningEvaluatorNode : public rclcpp::Node this, "~/input/modified_goal"}; autoware::universe_utils::InterProcessPollingSubscriber odometry_sub_{ this, "~/input/odometry"}; - autoware::universe_utils::InterProcessPollingSubscriber route_subscriber_{ - this, "~/input/route", rclcpp::QoS{1}.transient_local()}; - autoware::universe_utils::InterProcessPollingSubscriber vector_map_subscriber_{ - this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; + autoware::universe_utils::InterProcessPollingSubscriber< + LaneletRoute, autoware::universe_utils::polling_policy::Newest> + route_subscriber_{this, "~/input/route", rclcpp::QoS{1}.transient_local()}; + autoware::universe_utils::InterProcessPollingSubscriber< + LaneletMapBin, autoware::universe_utils::polling_policy::Newest> + vector_map_subscriber_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; autoware::universe_utils::InterProcessPollingSubscriber accel_sub_{ this, "~/input/acceleration"}; diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index e02367407f4ae..d378d55dd2a46 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -144,7 +144,7 @@ void PlanningEvaluatorNode::getRouteData() { // route { - const auto msg = route_subscriber_.takeNewData(); + const auto msg = route_subscriber_.takeData(); if (msg) { if (msg->segments.empty()) { RCLCPP_ERROR(get_logger(), "input route is empty. ignored"); @@ -156,7 +156,7 @@ void PlanningEvaluatorNode::getRouteData() // map { - const auto msg = vector_map_subscriber_.takeNewData(); + const auto msg = vector_map_subscriber_.takeData(); if (msg) { route_handler_.setMap(*msg); } diff --git a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp index 557c0c871583d..0189bf554676b 100644 --- a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp +++ b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp @@ -73,13 +73,12 @@ class ScenarioSelectorNode : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_lanelet_map_; rclcpp::Subscription::SharedPtr sub_route_; - autoware::universe_utils::InterProcessPollingSubscriber::SharedPtr - sub_odom_; + universe_utils::InterProcessPollingSubscriber< + nav_msgs::msg::Odometry, autoware::universe_utils::polling_policy::All>::SharedPtr sub_odom_; rclcpp::Subscription::SharedPtr sub_lane_driving_trajectory_; rclcpp::Subscription::SharedPtr sub_parking_trajectory_; - autoware::universe_utils::InterProcessPollingSubscriber::SharedPtr - sub_parking_state_; + universe_utils::InterProcessPollingSubscriber::SharedPtr sub_parking_state_; rclcpp::Publisher::SharedPtr pub_trajectory_; rclcpp::Publisher::SharedPtr pub_scenario_; diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp index 26918cce24549..5d76f1d8e4edf 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp @@ -93,7 +93,8 @@ class VelocitySmootherNode : public rclcpp::Node this, "/localization/kinematic_state"}; autoware::universe_utils::InterProcessPollingSubscriber sub_current_acceleration_{this, "~/input/acceleration"}; - autoware::universe_utils::InterProcessPollingSubscriber + autoware::universe_utils::InterProcessPollingSubscriber< + VelocityLimit, universe_utils::polling_policy::Newest> sub_external_velocity_limit_{this, "~/input/external_velocity_limit_mps"}; autoware::universe_utils::InterProcessPollingSubscriber sub_operation_mode_{ this, "~/input/operation_mode_state"}; diff --git a/planning/autoware_velocity_smoother/src/node.cpp b/planning/autoware_velocity_smoother/src/node.cpp index ca7526e9adf3b..0249cfa70b496 100644 --- a/planning/autoware_velocity_smoother/src/node.cpp +++ b/planning/autoware_velocity_smoother/src/node.cpp @@ -433,7 +433,7 @@ void VelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr // receive data current_odometry_ptr_ = sub_current_odometry_.takeData(); current_acceleration_ptr_ = sub_current_acceleration_.takeData(); - external_velocity_limit_ptr_ = sub_external_velocity_limit_.takeNewData(); + external_velocity_limit_ptr_ = sub_external_velocity_limit_.takeData(); const auto operation_mode_ptr = sub_operation_mode_.takeData(); if (operation_mode_ptr) { operation_mode_ = *operation_mode_ptr; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp index 3c62cc241b323..11f9d9f140214 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp @@ -88,10 +88,12 @@ class BehaviorPathPlannerNode : public rclcpp::Node private: // subscriber - autoware::universe_utils::InterProcessPollingSubscriber route_subscriber_{ - this, "~/input/route", rclcpp::QoS{1}.transient_local()}; - autoware::universe_utils::InterProcessPollingSubscriber vector_map_subscriber_{ - this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; + autoware::universe_utils::InterProcessPollingSubscriber< + LaneletRoute, universe_utils::polling_policy::Newest> + route_subscriber_{this, "~/input/route", rclcpp::QoS{1}.transient_local()}; + autoware::universe_utils::InterProcessPollingSubscriber< + LaneletMapBin, universe_utils::polling_policy::Newest> + vector_map_subscriber_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; autoware::universe_utils::InterProcessPollingSubscriber velocity_subscriber_{ this, "~/input/odometry"}; autoware::universe_utils::InterProcessPollingSubscriber diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index e92fe937708b8..3d5ade9faf927 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -218,7 +218,7 @@ void BehaviorPathPlannerNode::takeData() { // route { - const auto msg = route_subscriber_.takeNewData(); + const auto msg = route_subscriber_.takeData(); if (msg) { if (msg->segments.empty()) { RCLCPP_ERROR(get_logger(), "input route is empty. ignored"); @@ -230,7 +230,7 @@ void BehaviorPathPlannerNode::takeData() } // map { - const auto msg = vector_map_subscriber_.takeNewData(); + const auto msg = vector_map_subscriber_.takeData(); if (msg) { map_ptr_ = msg; has_received_map_ = true; From c0d83bd7708f0096ad6033265516f1f7dcdb996f Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Fri, 19 Jul 2024 17:18:24 +0900 Subject: [PATCH 251/306] feat(ndt_scan_matcher): add scale_factor to covariance_estimation (#8108) Added scale_factor to ndt_scan_matcher.covariance_estimation Signed-off-by: Shintaro Sakoda --- .../config/ndt_scan_matcher.param.yaml | 3 +++ .../include/ndt_scan_matcher/hyper_parameters.hpp | 3 +++ .../schema/sub/covariance_covariance_estimation.json | 10 +++++++++- .../ndt_scan_matcher/src/ndt_scan_matcher_core.cpp | 6 ++++-- 4 files changed, 19 insertions(+), 3 deletions(-) diff --git a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml index 616cb108baf4a..9e2cacab4d1fc 100644 --- a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml +++ b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml @@ -119,6 +119,9 @@ # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance temperature: 0.1 + # Scale value for adjusting the estimated covariance by a constant multiplication + scale_factor: 1.0 + dynamic_map_loading: # Dynamic map loading distance diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp index d6bd975c36bf3..5374e598ba68f 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp @@ -91,6 +91,7 @@ struct HyperParameters std::vector initial_pose_offset_model_x{}; std::vector initial_pose_offset_model_y{}; double temperature{}; + double scale_factor{}; } covariance_estimation{}; } covariance{}; @@ -178,6 +179,8 @@ struct HyperParameters } covariance.covariance_estimation.temperature = node->declare_parameter("covariance.covariance_estimation.temperature"); + covariance.covariance_estimation.scale_factor = + node->declare_parameter("covariance.covariance_estimation.scale_factor"); dynamic_map_loading.update_distance = node->declare_parameter("dynamic_map_loading.update_distance"); diff --git a/localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json b/localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json index cbee3b5da72aa..81350f3d2db37 100644 --- a/localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json +++ b/localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json @@ -27,13 +27,21 @@ "description": "In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance", "default": 0.1, "exclusiveMinimum": 0 + }, + "scale_factor": { + "type": "number", + "description": "Scale value for adjusting the estimated covariance by a constant multiplication", + "default": 1.0, + "exclusiveMinimum": 0 } }, "required": [ "covariance_estimation_type", "initial_pose_offset_model_x", - "initial_pose_offset_model_y" + "initial_pose_offset_model_y", + "temperature", + "scale_factor" ], "additionalProperties": false } diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index b394a8f863ceb..097fbfa838339 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -584,8 +584,10 @@ bool NDTScanMatcher::callback_sensor_points_main( CovarianceEstimationType::FIXED_VALUE) { const Eigen::Matrix2d estimated_covariance_2d = estimate_covariance(ndt_result, initial_pose_matrix, sensor_ros_time); - const Eigen::Matrix2d estimated_covariance_2d_adj = - pclomp::adjust_diagonal_covariance(estimated_covariance_2d, ndt_result.pose, 0.0225, 0.0225); + const Eigen::Matrix2d estimated_covariance_2d_scaled = + estimated_covariance_2d * param_.covariance.covariance_estimation.scale_factor; + const Eigen::Matrix2d estimated_covariance_2d_adj = pclomp::adjust_diagonal_covariance( + estimated_covariance_2d_scaled, ndt_result.pose, 0.0225, 0.0225); ndt_covariance[0 + 6 * 0] = estimated_covariance_2d_adj(0, 0); ndt_covariance[1 + 6 * 1] = estimated_covariance_2d_adj(1, 1); ndt_covariance[1 + 6 * 0] = estimated_covariance_2d_adj(1, 0); From 1a29e63727787926e96d197d3b5d9212f74512b0 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 19 Jul 2024 17:34:16 +0900 Subject: [PATCH 252/306] fix(multi_object_tracker): fix funcArgNamesDifferent (#8079) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../autoware_multi_object_tracker/src/processor/processor.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_multi_object_tracker/src/processor/processor.hpp b/perception/autoware_multi_object_tracker/src/processor/processor.hpp index 5eac113b3974c..851a0f6a26717 100644 --- a/perception/autoware_multi_object_tracker/src/processor/processor.hpp +++ b/perception/autoware_multi_object_tracker/src/processor/processor.hpp @@ -41,7 +41,7 @@ class TrackerProcessor // tracker processes void predict(const rclcpp::Time & time); void update( - const autoware_perception_msgs::msg::DetectedObjects & transformed_objects, + const autoware_perception_msgs::msg::DetectedObjects & detected_objects, const geometry_msgs::msg::Transform & self_transform, const std::unordered_map & direct_assignment, const uint & channel_index); void spawn( From ce60ace6520c0713e6b88dfdb5e74bca727045c0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 19 Jul 2024 17:42:38 +0900 Subject: [PATCH 253/306] fix(bpp, rtc_interface): fix state transition (#7743) * fix(rtc_interface): check rtc state Signed-off-by: satoshi-ota * fix(bpp_interface): check rtc state Signed-off-by: satoshi-ota * feat(rtc_interface): print Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../autoware/rtc_interface/rtc_interface.hpp | 2 + .../src/rtc_interface.cpp | 68 +++++++++++++++++-- .../interface/scene_module_interface.hpp | 14 +++- 3 files changed, 75 insertions(+), 9 deletions(-) diff --git a/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp b/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp index d34c890ab1ce1..be9b2cfc1ccf6 100644 --- a/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp +++ b/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp @@ -62,8 +62,10 @@ class RTCInterface bool isForceActivated(const UUID & uuid) const; bool isRegistered(const UUID & uuid) const; bool isRTCEnabled(const UUID & uuid) const; + bool isTerminated(const UUID & uuid) const; void lockCommandUpdate(); void unlockCommandUpdate(); + void print() const; private: void onCooperateCommandService( diff --git a/planning/autoware_rtc_interface/src/rtc_interface.cpp b/planning/autoware_rtc_interface/src/rtc_interface.cpp index a426b198ef56f..7dcdc4d5984a6 100644 --- a/planning/autoware_rtc_interface/src/rtc_interface.cpp +++ b/planning/autoware_rtc_interface/src/rtc_interface.cpp @@ -20,7 +20,7 @@ namespace { using tier4_rtc_msgs::msg::Module; -std::string to_string(const unique_identifier_msgs::msg::UUID & uuid) +std::string uuid_to_string(const unique_identifier_msgs::msg::UUID & uuid) { std::stringstream ss; for (auto i = 0; i < 16; ++i) { @@ -29,6 +29,34 @@ std::string to_string(const unique_identifier_msgs::msg::UUID & uuid) return ss.str(); } +std::string command_to_string(const uint8_t type) +{ + if (type == tier4_rtc_msgs::msg::Command::ACTIVATE) { + return "ACTIVATE"; + } else if (type == tier4_rtc_msgs::msg::Command::DEACTIVATE) { + return "DEACTIVATE"; + } + + throw std::domain_error("invalid rtc command."); +} + +std::string state_to_string(const uint8_t type) +{ + if (type == tier4_rtc_msgs::msg::State::WAITING_FOR_EXECUTION) { + return "WAITING_FOR_EXECUTION"; + } else if (type == tier4_rtc_msgs::msg::State::RUNNING) { + return "RUNNING"; + } else if (type == tier4_rtc_msgs::msg::State::ABORTING) { + return "ABORTING"; + } else if (type == tier4_rtc_msgs::msg::State::SUCCEEDED) { + return "SUCCEEDED"; + } else if (type == tier4_rtc_msgs::msg::State::FAILED) { + return "FAILED"; + } + + throw std::domain_error("invalid rtc state."); +} + Module getModuleType(const std::string & module_name) { Module module; @@ -158,14 +186,14 @@ std::vector RTCInterface::validateCooperateCommands( } else { RCLCPP_WARN_STREAM( getLogger(), "[validateCooperateCommands] uuid : " - << to_string(command.uuid) + << uuid_to_string(command.uuid) << " state is not WAITING_FOR_EXECUTION or RUNNING. state : " << itr->state.type << std::endl); response.success = false; } } else { RCLCPP_WARN_STREAM( - getLogger(), "[validateCooperateCommands] uuid : " << to_string(command.uuid) + getLogger(), "[validateCooperateCommands] uuid : " << uuid_to_string(command.uuid) << " is not found." << std::endl); response.success = false; } @@ -262,7 +290,7 @@ void RTCInterface::removeCooperateStatus(const UUID & uuid) RCLCPP_WARN_STREAM( getLogger(), - "[removeCooperateStatus] uuid : " << to_string(uuid) << " is not found." << std::endl); + "[removeCooperateStatus] uuid : " << uuid_to_string(uuid) << " is not found." << std::endl); } void RTCInterface::removeStoredCommand(const UUID & uuid) @@ -313,7 +341,7 @@ bool RTCInterface::isActivated(const UUID & uuid) const } RCLCPP_WARN_STREAM( - getLogger(), "[isActivated] uuid : " << to_string(uuid) << " is not found." << std::endl); + getLogger(), "[isActivated] uuid : " << uuid_to_string(uuid) << " is not found." << std::endl); return false; } @@ -361,7 +389,23 @@ bool RTCInterface::isRTCEnabled(const UUID & uuid) const } RCLCPP_WARN_STREAM( - getLogger(), "[isRTCEnabled] uuid : " << to_string(uuid) << " is not found." << std::endl); + getLogger(), "[isRTCEnabled] uuid : " << uuid_to_string(uuid) << " is not found." << std::endl); + return is_auto_mode_enabled_; +} + +bool RTCInterface::isTerminated(const UUID & uuid) const +{ + std::lock_guard lock(mutex_); + const auto itr = std::find_if( + registered_status_.statuses.begin(), registered_status_.statuses.end(), + [uuid](auto & s) { return s.uuid == uuid; }); + + if (itr != registered_status_.statuses.end()) { + return itr->state.type == State::SUCCEEDED || itr->state.type == State::FAILED; + } + + RCLCPP_WARN_STREAM( + getLogger(), "[isTerminated] uuid : " << uuid_to_string(uuid) << " is not found." << std::endl); return is_auto_mode_enabled_; } @@ -386,4 +430,16 @@ bool RTCInterface::isLocked() const return is_locked_; } +void RTCInterface::print() const +{ + RCLCPP_INFO_STREAM(getLogger(), "---print rtc cooperate statuses---" << std::endl); + for (const auto status : registered_status_.statuses) { + RCLCPP_INFO_STREAM( + getLogger(), "uuid:" << uuid_to_string(status.uuid) + << " command:" << command_to_string(status.command_status.type) + << std::boolalpha << " safe:" << status.safe + << " state:" << state_to_string(status.state.type) << std::endl); + } +} + } // namespace autoware::rtc_interface diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 95eb82e0b4c23..c4a05d171654d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -335,8 +335,15 @@ class SceneModuleInterface { return std::any_of( rtc_interface_ptr_map_.begin(), rtc_interface_ptr_map_.end(), [&](const auto & rtc) { - return rtc.second->isRegistered(uuid_map_.at(rtc.first)) && - rtc.second->isActivated(uuid_map_.at(rtc.first)); + if (!rtc.second->isRegistered(uuid_map_.at(rtc.first))) { + return false; + } + + if (rtc.second->isTerminated(uuid_map_.at(rtc.first))) { + return true; + } + + return rtc.second->isActivated(uuid_map_.at(rtc.first)); }); } @@ -345,7 +352,8 @@ class SceneModuleInterface return std::any_of( rtc_interface_ptr_map_.begin(), rtc_interface_ptr_map_.end(), [&](const auto & rtc) { return rtc.second->isRegistered(uuid_map_.at(rtc.first)) && - !rtc.second->isActivated(uuid_map_.at(rtc.first)); + !rtc.second->isActivated(uuid_map_.at(rtc.first)) && + !rtc.second->isTerminated(uuid_map_.at(rtc.first)); }); } From fd362ca91dd9f76764b21ab7a1a91fb5100f1e3c Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Fri, 19 Jul 2024 18:47:47 +0900 Subject: [PATCH 254/306] fix(rtc_interface): fix build error (#8111) * fix Signed-off-by: Go Sakayori * fix format Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- planning/autoware_rtc_interface/src/rtc_interface.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning/autoware_rtc_interface/src/rtc_interface.cpp b/planning/autoware_rtc_interface/src/rtc_interface.cpp index 7dcdc4d5984a6..1352ec10557f9 100644 --- a/planning/autoware_rtc_interface/src/rtc_interface.cpp +++ b/planning/autoware_rtc_interface/src/rtc_interface.cpp @@ -364,7 +364,8 @@ bool RTCInterface::isForceActivated(const UUID & uuid) const } RCLCPP_WARN_STREAM( - getLogger(), "[isForceActivated] uuid : " << to_string(uuid) << " is not found" << std::endl); + getLogger(), + "[isForceActivated] uuid : " << uuid_to_string(uuid) << " is not found" << std::endl); return false; } From 9745930ca6dabe36de356871e57be276b7d672ef Mon Sep 17 00:00:00 2001 From: Ariiees Date: Fri, 19 Jul 2024 10:35:52 -0400 Subject: [PATCH 255/306] change launch file name to **_node.launch.xml Signed-off-by: Ariiees --- ...r.launch.xml => approximate_downsample_filter_node.launch.xml} | 0 ...ckage_diag.launch.xml => blockage_diagnostics_node.launch.xml} | 0 ...lter.launch.xml => dual_return_outlier_filter_node.launch.xml} | 0 ..._map_filter.launch.xml => lanelet2_map_filter_node.launch.xml} | 0 ... => pickup_based_voxel_grid_downsample_filter_node.launch.xml} | 0 ...umulator.launch.xml => pointcloud_accumulator_node.launch.xml} | 0 ...launch.xml => radius_search_2d_outlier_filter_node.launch.xml} | 0 ...filter.launch.xml => random_downsample_filter_node.launch.xml} | 0 ...lier_filter.launch.xml => ring_outlier_filter_node.launch.xml} | 0 ..._filter.launch.xml => ring_passthrough_filter_node.launch.xml} | 0 ...r.launch.xml => vector_map_inside_area_filter_node.launch.xml} | 0 ...er.launch.xml => voxel_grid_downsample_filter_node.launch.xml} | 0 ...ilter.launch.xml => voxel_grid_outlier_filter_node.launch.xml} | 0 13 files changed, 0 insertions(+), 0 deletions(-) rename sensing/pointcloud_preprocessor/launch/{approximate_downsample_filter.launch.xml => approximate_downsample_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{blockage_diag.launch.xml => blockage_diagnostics_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{dual_return_outlier_filter.launch.xml => dual_return_outlier_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{lanelet2_map_filter.launch.xml => lanelet2_map_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{pickup_based_voxel_grid_downsample_filter.launch.xml => pickup_based_voxel_grid_downsample_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{pointcloud_accumulator.launch.xml => pointcloud_accumulator_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{radius_search_2d_outlier_filter.launch.xml => radius_search_2d_outlier_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{random_downsample_filter.launch.xml => random_downsample_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{ring_outlier_filter.launch.xml => ring_outlier_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{ring_passthrough_filter.launch.xml => ring_passthrough_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{vector_map_inside_area_filter.launch.xml => vector_map_inside_area_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{voxel_grid_downsample_filter.launch.xml => voxel_grid_downsample_filter_node.launch.xml} (100%) rename sensing/pointcloud_preprocessor/launch/{voxel_grid_outlier_filter.launch.xml => voxel_grid_outlier_filter_node.launch.xml} (100%) diff --git a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml b/sensing/pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml rename to sensing/pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml rename to sensing/pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/random_downsample_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml rename to sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml From 1565da9eb943dfed3ec615b9c3de28e96b0b9266 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 19 Jul 2024 14:40:25 +0000 Subject: [PATCH 256/306] style(pre-commit): autofix --- .../launch/crop_box_filter.launch.xml | 2 +- .../schema/filter.schema.json | 10 +-- .../schema/pointcloud_accumulator.schema.json | 73 +++++++++---------- .../random_downsample_filter.schema.json | 12 +-- .../schema/ring_outlier_filter.schema.json | 20 ++--- 5 files changed, 58 insertions(+), 59 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml index 67d23a150b6ee..e0a312e1b489b 100644 --- a/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml @@ -12,4 +12,4 @@ - \ No newline at end of file + diff --git a/sensing/pointcloud_preprocessor/schema/filter.schema.json b/sensing/pointcloud_preprocessor/schema/filter.schema.json index f73d721bbffc5..8e0a6605933b8 100644 --- a/sensing/pointcloud_preprocessor/schema/filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/filter.schema.json @@ -16,11 +16,11 @@ "description": "output frame id", "default": "" }, - "max_queue_size": { - "type": "integer", - "minimum": 0, - "description": "max queue size of input/output topics", - "default": 5 + "max_queue_size": { + "type": "integer", + "minimum": 0, + "description": "max queue size of input/output topics", + "default": 5 }, "use_indices": { "type": "boolean", diff --git a/sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json b/sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json index 305e36f21a7b3..79d21c5a15458 100644 --- a/sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json +++ b/sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json @@ -1,39 +1,38 @@ { - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "Parameter for pointcloud accumulator", - "type": "object", - "definitions": { - "pointcloud_accumulator": { - "type": "object", - "properties": { - "accumulation_time_sec": { - "type": "number", - "description": "accumulation period [s]", - "default": "2.0" - }, - "pointcloud_buffer_size": { - "type": "integer", - "description": "buffer size", - "default": "50" - } + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameter for pointcloud accumulator", + "type": "object", + "definitions": { + "pointcloud_accumulator": { + "type": "object", + "properties": { + "accumulation_time_sec": { + "type": "number", + "description": "accumulation period [s]", + "default": "2.0" }, - "required": ["accumulation_time_sec", "pointcloud_buffer_size"], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/approximate_downsample_filter" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false - } - \ No newline at end of file + "pointcloud_buffer_size": { + "type": "integer", + "description": "buffer size", + "default": "50" + } + }, + "required": ["accumulation_time_sec", "pointcloud_buffer_size"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/approximate_downsample_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json index 59cfa72d2e215..f243c0eeb2aa5 100644 --- a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json @@ -6,12 +6,12 @@ "random_downsample_filter": { "type": "object", "properties": { - "sample_num": { - "type": "integer", - "minimum": 0, - "description": "number of indices to be sampled", - "default": "1500" - } + "sample_num": { + "type": "integer", + "minimum": 0, + "description": "number of indices to be sampled", + "default": "1500" + } }, "required": ["sample_num"], "additionalProperties": false diff --git a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json index b7931986b47d3..06386f2fda251 100644 --- a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json +++ b/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json @@ -22,17 +22,17 @@ "default": "4" }, "max_rings_num": { - "type": "integer", - "minimum": 1, - "description": "max_rings_num", - "default": "128" + "type": "integer", + "minimum": 1, + "description": "max_rings_num", + "default": "128" + }, + "max_points_num_per_ring": { + "type": "integer", + "minimum": 0, + "description": "Set this value large enough such that HFoV / resolution < max_points_num_per_ring", + "default": "4000" }, - "max_points_num_per_ring": { - "type": "integer", - "minimum": 0, - "description": "Set this value large enough such that HFoV / resolution < max_points_num_per_ring", - "default": "4000" - }, "publish_outlier_pointcloud": { "type": "boolean", "description": "Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments.", From 065904499e9c74ee443104121b82489d79845f4c Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 10:57:22 +0900 Subject: [PATCH 257/306] Update sensing/pointcloud_preprocessor/config/concatenate_and_time_sync.param.yaml --- .../config/concatenate_and_time_sync.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync.param.yaml b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync.param.yaml index f347021aa0f65..a3a6d4c585d99 100644 --- a/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync.param.yaml +++ b/sensing/pointcloud_preprocessor/config/concatenate_and_time_sync.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - ## Paramters in concatenate_and_time_sync_nodelet.cpp input_twist_topic_type: "twist" output_frame: "" input_topics: [""] From 33f4f056b3a0208bc793b937855d41d3e344b703 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 10:57:33 +0900 Subject: [PATCH 258/306] Update sensing/pointcloud_preprocessor/config/filter.param.yaml --- sensing/pointcloud_preprocessor/config/filter.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/config/filter.param.yaml b/sensing/pointcloud_preprocessor/config/filter.param.yaml index 2d856406cb19b..abd396892239e 100644 --- a/sensing/pointcloud_preprocessor/config/filter.param.yaml +++ b/sensing/pointcloud_preprocessor/config/filter.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - ## Paramters in filter.cpp input_frame: "" output_frame: "" max_queue_size: 5 From 9fdc3a0c50465de319df542a8cb6eaf445853ce0 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 10:57:40 +0900 Subject: [PATCH 259/306] Update sensing/pointcloud_preprocessor/config/crop_box_filter.param.yaml --- .../pointcloud_preprocessor/config/crop_box_filter.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/config/crop_box_filter.param.yaml b/sensing/pointcloud_preprocessor/config/crop_box_filter.param.yaml index 24c3a677ba580..4ec29e8f66137 100644 --- a/sensing/pointcloud_preprocessor/config/crop_box_filter.param.yaml +++ b/sensing/pointcloud_preprocessor/config/crop_box_filter.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - ## Paramters in crop_box_filter_nodelet.cpp min_x: -1.0 min_y: -1.0 min_z: -1.0 From 26ee702237a75b455dcdbb4b68f327ae0d58c6f0 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 10:57:51 +0900 Subject: [PATCH 260/306] Update sensing/pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml --- .../config/concatenate_pointclouds.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml index 944fae4f9a734..318d37a38d132 100644 --- a/sensing/pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml +++ b/sensing/pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - ## Paramters in concatenate_pointclouds.cpp output_frame: "" input_topics: [""] max_queue_size: 5 From 8cb2c4c4fa3758428ba0a3a6008647e37bf399e8 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 10:57:58 +0900 Subject: [PATCH 261/306] Update sensing/pointcloud_preprocessor/config/approximate_downsample_filter.param.yaml --- .../config/approximate_downsample_filter.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/config/approximate_downsample_filter.param.yaml b/sensing/pointcloud_preprocessor/config/approximate_downsample_filter.param.yaml index 4ff82bec2989e..239e47f09632b 100644 --- a/sensing/pointcloud_preprocessor/config/approximate_downsample_filter.param.yaml +++ b/sensing/pointcloud_preprocessor/config/approximate_downsample_filter.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - ## Paramters in approximate_downsample_filter_nodelet.cpp voxel_size_x: 0.3 voxel_size_y: 0.3 voxel_size_z: 0.1 From 358a0fb6ba60afa58299f9d112c695f1f41108b0 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:11:50 +0900 Subject: [PATCH 262/306] Update sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml --- .../launch/ring_passthrough_filter_node.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml index e09883a2c1378..c18a26f036d9f 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml @@ -1,7 +1,6 @@ - From c98531c383e648401eefa4125484fb0d2c3b2103 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:12:11 +0900 Subject: [PATCH 263/306] Update sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml --- .../launch/approximate_downsample_filter_node.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml index 200b2cea44f69..95b1ded06e366 100644 --- a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml @@ -1,16 +1,16 @@ - + + + - - From 0183a6003a0456220584212b00203c4459b2ffed Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:13:01 +0900 Subject: [PATCH 264/306] Update sensing/pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml --- .../launch/pointcloud_accumulator_node.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml index eebb98ffc575c..1269b1bdf4c99 100644 --- a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml @@ -1,16 +1,16 @@ - + + + - - From 1e11dc98fa4087459d7a9aa08ff41bacddd486c6 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:13:11 +0900 Subject: [PATCH 265/306] Update sensing/pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml --- .../launch/ring_outlier_filter_node.launch.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml index 16f2b714379ce..545808e2787b4 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml @@ -1,16 +1,16 @@ - - + + + + - - From 632ef63ff682e50f826a2cc7b9c06f7165ce2dee Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:13:23 +0900 Subject: [PATCH 266/306] Update sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml --- .../launch/voxel_grid_downsample_filter_node.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml index 6a98f85b8edd9..886de87f333f0 100644 --- a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml @@ -1,16 +1,16 @@ - + + + - - From 2c8e75c196d777ec71df0bcf2bdfe03a0e0edae8 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:13:31 +0900 Subject: [PATCH 267/306] Update sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp --- .../src/downsample_filter/random_downsample_filter_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp index 87933efb77c31..8fafb0bf0d2e9 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp @@ -58,7 +58,7 @@ RandomDownsampleFilterComponent::RandomDownsampleFilterComponent( { // set initial parameters { - sample_num_ = declare_parameter("sample_num"); + sample_num_ = declare_parameter("sample_num"); } using std::placeholders::_1; From c4565d0649c51009c3cc5aa58f9f2a083be69c4f Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:13:43 +0900 Subject: [PATCH 268/306] Update sensing/pointcloud_preprocessor/src/filter.cpp --- sensing/pointcloud_preprocessor/src/filter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp index eaadd1da2c064..cfe09e613fcf2 100644 --- a/sensing/pointcloud_preprocessor/src/filter.cpp +++ b/sensing/pointcloud_preprocessor/src/filter.cpp @@ -72,7 +72,7 @@ pointcloud_preprocessor::Filter::Filter( { tf_input_frame_ = declare_parameter("input_frame"); tf_output_frame_ = declare_parameter("output_frame"); - max_queue_size_ = declare_parameter("max_queue_size"); + max_queue_size_ = declare_parameter("max_queue_size"); // ---[ Optional parameters use_indices_ = declare_parameter("use_indices"); From df90d1b5c434b2860126b1c88f88bb965c43ee13 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:13:53 +0900 Subject: [PATCH 269/306] Update sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp --- .../pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp index ef46d45d8f3ed..0e023c6c8d4ec 100644 --- a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp @@ -24,7 +24,7 @@ PointcloudAccumulatorComponent::PointcloudAccumulatorComponent(const rclcpp::Nod // set initial parameters { accumulation_time_sec_ = declare_parameter("accumulation_time_sec"); - pointcloud_buffer_.set_capacity(declare_parameter("pointcloud_buffer_size")); + pointcloud_buffer_.set_capacity(declare_parameter("pointcloud_buffer_size")); } using std::placeholders::_1; From 5475663f98c05fc483d6d363416dfd0d13449116 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:14:01 +0900 Subject: [PATCH 270/306] Update sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp --- .../src/crop_box_filter/crop_box_filter_nodelet.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp index 0e73d91f78133..b39ce5702d19e 100644 --- a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp @@ -73,12 +73,12 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio // set initial parameters { auto & p = param_; - p.min_x = declare_parameter("min_x"); - p.min_y = declare_parameter("min_y"); - p.min_z = declare_parameter("min_z"); - p.max_x = declare_parameter("max_x"); - p.max_y = declare_parameter("max_y"); - p.max_z = declare_parameter("max_z"); + p.min_x = declare_parameter("min_x"); + p.min_y = declare_parameter("min_y"); + p.min_z = declare_parameter("min_z"); + p.max_x = declare_parameter("max_x"); + p.max_y = declare_parameter("max_y"); + p.max_z = declare_parameter("max_z"); p.negative = declare_parameter("negative"); if (tf_input_frame_.empty()) { throw std::invalid_argument("Crop box requires non-empty input_frame"); From fd22fdfa47fd2ccdc63662f1f778be6a48c98fd6 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:14:12 +0900 Subject: [PATCH 271/306] Update sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp --- .../src/concatenate_data/concatenate_pointclouds.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index 225c3bb6e60f7..d54451be43fc7 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -66,7 +66,7 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( } // Optional parameters - maximum_queue_size_ = declare_parameter("max_queue_size"); + maximum_queue_size_ = declare_parameter("max_queue_size"); /** input pointclouds should be */ timeout_sec_ = declare_parameter("timeout_sec"); From 38df75cac83fbf5f922474822a4a55e9210037fe Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:14:22 +0900 Subject: [PATCH 272/306] Update sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp --- .../src/concatenate_data/concatenate_and_time_sync_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index 65f9da28406d1..f7d70eb06e447 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -104,7 +104,7 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro } // Optional parameters - maximum_queue_size_ = declare_parameter("max_queue_size"); + maximum_queue_size_ = declare_parameter("max_queue_size"); timeout_sec_ = declare_parameter("timeout_sec"); input_offset_ = declare_parameter>("input_offset"); From c0d9719b84a35599fcb673caa30b6abca60b8499 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:14:32 +0900 Subject: [PATCH 273/306] Update sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml --- .../launch/voxel_grid_outlier_filter_node.launch.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml index 240786771f0de..c093aa8a3b300 100644 --- a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml @@ -1,16 +1,16 @@ - - + + + + - - From 08361473861696abd864a71a6f029c6ce69fd2b5 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:14:45 +0900 Subject: [PATCH 274/306] Update sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml --- .../launch/vector_map_inside_area_filter_node.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml index 638c8d924844f..710b8175608bf 100644 --- a/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml @@ -1,12 +1,12 @@ - + - - + + From eee94bf3dbf7c7ba5e57f91b8ff39ccb8bd79024 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:15:14 +0900 Subject: [PATCH 275/306] Update sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml --- ...ickup_based_voxel_grid_downsample_filter_node.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml index 83f46e2a4c482..88ed0d9d73c8c 100644 --- a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml @@ -1,16 +1,16 @@ - + + + - - From dcfdba6a8a1a414791df7649ada773601aa47ed5 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:15:29 +0900 Subject: [PATCH 276/306] Update sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml --- .../radius_search_2d_outlier_filter_node.launch.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml index b15b4bb12e37d..38fa110716a15 100644 --- a/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml @@ -1,16 +1,16 @@ - - + + + + - - From eae8e2c7a7cfe7dac0abfe97c61c60d734ea0591 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:16:55 +0900 Subject: [PATCH 277/306] Update sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp --- .../src/concatenate_data/concatenate_and_time_sync_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index f7d70eb06e447..5c65b4dceadf7 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -117,7 +117,7 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro publish_synchronized_pointcloud_ = declare_parameter("publish_synchronized_pointcloud"); keep_input_frame_in_synchronized_pointcloud_ = declare_parameter("keep_input_frame_in_synchronized_pointcloud"); - synchronized_pointcloud_postfix_ = declare_parameter("synchronized_pointcloud_postfix"); + synchronized_pointcloud_postfix_ = declare_parameter("synchronized_pointcloud_postfix"); } // Initialize not_subscribed_topic_names_ From d494fa84b02572b4db40b1e250f139db017e5062 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:17:52 +0900 Subject: [PATCH 278/306] Update sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml --- .../launch/crop_box_filter.launch.xml | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml index e0a312e1b489b..62aaf94ea7587 100644 --- a/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml @@ -1,15 +1,16 @@ + - - + + + + - - From 90bd743f82c2efd9c33efb2776356f3b40646365 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 19 Jul 2024 23:46:34 +0900 Subject: [PATCH 279/306] fix(autoware_overlay_rviz_plugin): topic type of traffic light (#8098) * fix(autoware_overlay_rviz_plugin): topic type of traffic light Signed-off-by: Tomohito Ando * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/signal_display.hpp | 5 ++-- .../include/traffic_display.hpp | 5 ++-- .../src/signal_display.cpp | 24 +++++++++---------- .../src/traffic_display.cpp | 6 ++--- 4 files changed, 19 insertions(+), 21 deletions(-) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp index 5f5c9cee2da43..1e79505ea97c3 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp @@ -103,8 +103,7 @@ private Q_SLOTS: turn_signals_sub_; rclcpp::Subscription::SharedPtr hazard_lights_sub_; - rclcpp::Subscription::SharedPtr - traffic_sub_; + rclcpp::Subscription::SharedPtr traffic_sub_; rclcpp::Subscription::SharedPtr speed_limit_sub_; std::mutex property_mutex_; @@ -118,7 +117,7 @@ private Q_SLOTS: const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg); void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); void updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg); + const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr msg); void drawWidget(QImage & hud); }; } // namespace autoware_overlay_rviz_plugin diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp index fd15f542021f1..01545bcea6f4e 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp @@ -25,7 +25,6 @@ #include #include -#include #include #include @@ -40,8 +39,8 @@ class TrafficDisplay TrafficDisplay(); void drawTrafficLightIndicator(QPainter & painter, const QRectF & backgroundRect); void updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr & msg); - autoware_perception_msgs::msg::TrafficLightGroupArray current_traffic_; + const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr & msg); + autoware_perception_msgs::msg::TrafficLightGroup current_traffic_; private: QImage traffic_light_image_; diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp index 1fd33a95fb34d..c61a6b47853ba 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp @@ -112,9 +112,10 @@ void SignalDisplay::onInitialize() speed_limit_topic_property_->initialize(rviz_ros_node); traffic_topic_property_ = std::make_unique( - "Traffic Topic", "/perception/traffic_light_recognition/traffic_signals", - "autoware_perception_msgs/msgs/msg/TrafficLightGroupArray", "Topic for Traffic Light Data", - this, SLOT(topic_updated_traffic())); + "Traffic Topic", + "/planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal", + "autoware_perception_msgs/msgs/msg/TrafficLightGroup", "Topic for Traffic Light Data", this, + SLOT(topic_updated_traffic())); traffic_topic_property_->initialize(rviz_ros_node); } @@ -192,7 +193,7 @@ void SignalDisplay::onDisable() } void SignalDisplay::updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg) + const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr msg) { std::lock_guard lock(property_mutex_); @@ -458,14 +459,13 @@ void SignalDisplay::topic_updated_traffic() // resubscribe to the topic traffic_sub_.reset(); auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); - traffic_sub_ = - rviz_ros_node->get_raw_node() - ->create_subscription( - traffic_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_perception_msgs::msg::TrafficLightGroupArray::SharedPtr msg) { - updateTrafficLightData(msg); - }); + traffic_sub_ = rviz_ros_node->get_raw_node() + ->create_subscription( + traffic_topic_property_->getTopicStd(), + rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + [this](const autoware_perception_msgs::msg::TrafficLightGroup::SharedPtr msg) { + updateTrafficLightData(msg); + }); } } // namespace autoware_overlay_rviz_plugin diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp index 2dc9c23583a52..c3f79f40e2ecd 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp @@ -48,7 +48,7 @@ TrafficDisplay::TrafficDisplay() } void TrafficDisplay::updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr & msg) + const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr & msg) { current_traffic_ = *msg; } @@ -68,8 +68,8 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF backgroundRect.top() + circleRect.height() / 2)); painter.drawEllipse(circleRect); - if (!current_traffic_.traffic_light_groups.empty()) { - switch (current_traffic_.traffic_light_groups[0].elements[0].color) { + if (!current_traffic_.elements.empty()) { + switch (current_traffic_.elements[0].color) { case 1: painter.setBrush(QBrush(tl_red_)); painter.drawEllipse(circleRect); From f4dab6ce458e6a848253e14082b540e51c53cd02 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 21 Jul 2024 13:18:58 +0900 Subject: [PATCH 280/306] feat(start_planner): check current_pose and estimated_stop_pose for isPreventingRearVehicleFromPassingThrough (#8112) --- .../data_structs.hpp | 3 ++ .../start_planner_module.hpp | 23 +++++++++ .../src/start_planner_module.cpp | 48 +++++++++++++++++-- 3 files changed, 69 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp index 6eea3e3576732..ebdb0869545ca 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp @@ -90,6 +90,9 @@ struct StartPlannerDebugData std::vector start_pose_candidates; size_t selected_start_pose_candidate_index; double margin_for_start_pose_candidate; + + // for isPreventingRearVehicleFromPassingThrough + std::optional estimated_stop_pose; }; struct StartPlannerParameters diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp index b07d6497463ef..bb70ae2638056 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp @@ -229,8 +229,31 @@ class StartPlannerModule : public SceneModuleInterface bool isModuleRunning() const; bool isCurrentPoseOnMiddleOfTheRoad() const; + + /** + * @brief Check if the ego vehicle is preventing the rear vehicle from passing through. + * + * This function just call isPreventingRearVehicleFromPassingThrough(const Pose & ego_pose) with + * two poses. If rear vehicle is obstructed by ego vehicle at either of the two poses, it returns + * true. + * + * @return true if the ego vehicle is preventing the rear vehicle from passing through with the + * current pose or the pose if it stops. + */ bool isPreventingRearVehicleFromPassingThrough() const; + /** + * @brief Check if the ego vehicle is preventing the rear vehicle from passing through. + * + * This function measures the distance to the lane boundary from the current pose and the pose if +it stops, and determines whether there is enough space for the rear vehicle to pass through. If + * it is obstructing at either of the two poses, it returns true. + * + * @return true if the ego vehicle is preventing the rear vehicle from passing through with given +ego pose. + */ + bool isPreventingRearVehicleFromPassingThrough(const Pose & ego_pose) const; + bool isCloseToOriginalStartPose() const; bool hasArrivedAtGoal() const; bool isMoving() const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index 9b94d3505c405..909a9574faa43 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -368,7 +368,35 @@ bool StartPlannerModule::isCurrentPoseOnMiddleOfTheRoad() const bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const { + // prepare poses for preventing check + // - current_pose + // - estimated_stop_pose (The position assumed when stopped with the minimum stop distance, + // although it is NOT actually stopped) const auto & current_pose = planner_data_->self_odometry->pose.pose; + std::vector preventing_check_pose{current_pose}; + const auto min_stop_distance = + autoware::behavior_path_planner::utils::parking_departure::calcFeasibleDecelDistance( + planner_data_, parameters_->maximum_deceleration_for_stop, parameters_->maximum_jerk_for_stop, + 0.0); + debug_data_.estimated_stop_pose.reset(); // debug + if (min_stop_distance.has_value()) { + const auto current_path = getCurrentPath(); + const auto estimated_stop_pose = calcLongitudinalOffsetPose( + current_path.points, current_pose.position, min_stop_distance.value()); + if (estimated_stop_pose.has_value()) { + preventing_check_pose.push_back(estimated_stop_pose.value()); + debug_data_.estimated_stop_pose = estimated_stop_pose.value(); // debug + } + } + + // check if any of the preventing check poses are preventing rear vehicle from passing through + return std::any_of( + preventing_check_pose.begin(), preventing_check_pose.end(), + [&](const auto & pose) { return isPreventingRearVehicleFromPassingThrough(pose); }); +} + +bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough(const Pose & ego_pose) const +{ const auto & dynamic_object = planner_data_->dynamic_object; const auto & route_handler = planner_data_->route_handler; const Pose start_pose = planner_data_->route_handler->getOriginalStartPose(); @@ -414,8 +442,8 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const geometry_msgs::msg::Pose & ego_overhang_point_as_pose, const bool ego_is_merging_from_the_left) -> std::optional> { const auto local_vehicle_footprint = vehicle_info_.createFootprint(); - const auto vehicle_footprint = transformVector( - local_vehicle_footprint, autoware::universe_utils::pose2transform(current_pose)); + const auto vehicle_footprint = + transformVector(local_vehicle_footprint, autoware::universe_utils::pose2transform(ego_pose)); double smallest_lateral_gap_between_ego_and_border = std::numeric_limits::max(); double corresponding_lateral_gap_with_other_lane_bound = std::numeric_limits::max(); @@ -481,7 +509,7 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const // Check backwards just in case the Vehicle behind ego is in a different lanelet constexpr double backwards_length = 200.0; const auto prev_lanes = autoware::behavior_path_planner::utils::getBackwardLanelets( - *route_handler, target_lanes, current_pose, backwards_length); + *route_handler, target_lanes, ego_pose, backwards_length); // return all the relevant lanelets lanelet::ConstLanelets relevant_lanelets{closest_lanelet_const}; relevant_lanelets.insert(relevant_lanelets.end(), prev_lanes.begin(), prev_lanes.end()); @@ -491,7 +519,7 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const // filtering objects with velocity, position and class const auto filtered_objects = utils::path_safety_checker::filterObjects( - dynamic_object, route_handler, relevant_lanelets.value(), current_pose.position, + dynamic_object, route_handler, relevant_lanelets.value(), ego_pose.position, objects_filtering_params_); if (filtered_objects.objects.empty()) return false; @@ -508,7 +536,7 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const target_objects_on_lane.on_current_lane.begin(), target_objects_on_lane.on_current_lane.end(), [&](const auto & o) { const auto arc_length = autoware::motion_utils::calcSignedArcLength( - centerline_path.points, current_pose.position, o.initial_pose.pose.position); + centerline_path.points, ego_pose.position, o.initial_pose.pose.position); if (arc_length > 0.0) return; if (std::abs(arc_length) >= std::abs(arc_length_to_closet_object)) return; arc_length_to_closet_object = arc_length; @@ -1719,6 +1747,16 @@ void StartPlannerModule::setDebugData() info_marker_); add(showPolygon(debug_data_.collision_check, "ego_and_target_polygon_relation"), info_marker_); + // visualize estimated_stop_pose for isPreventingRearVehicleFromPassingThrough() + if (debug_data_.estimated_stop_pose.has_value()) { + auto footprint_marker = createDefaultMarker( + "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "estimated_stop_pose", 0, Marker::LINE_STRIP, + createMarkerScale(0.2, 0.2, 0.2), purple_color); + footprint_marker.lifetime = rclcpp::Duration::from_seconds(1.5); + addFootprintMarker(footprint_marker, debug_data_.estimated_stop_pose.value(), vehicle_info_); + debug_marker_.markers.push_back(footprint_marker); + } + // set objects of interest for (const auto & [uuid, data] : debug_data_.collision_check) { const auto color = data.is_safe ? ColorName::GREEN : ColorName::RED; From 3904ab94eb67e88b9c512c81b3cb95d2a4fd2a87 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Mon, 22 Jul 2024 08:04:56 +0900 Subject: [PATCH 281/306] fix(diagnostic_graph_aggregator): fix constVariableReference (#8062) * fix:constVariableReference Signed-off-by: kobayu858 * fix:constVariableReference Signed-off-by: kobayu858 * fix:constVariableReference Signed-off-by: kobayu858 * fix:constVariableReference Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../diagnostic_graph_aggregator/src/common/graph/config.cpp | 6 +++--- .../diagnostic_graph_aggregator/src/common/graph/loader.cpp | 2 +- .../diagnostic_graph_aggregator/src/common/graph/units.cpp | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp index 496c95722002a..6dab6f7d2f511 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp @@ -264,9 +264,9 @@ void topological_sort(FileConfig & config) for (const auto & unit : config.units) units.push_back(unit.get()); // Count degrees of each unit. - for (const auto & unit : units) { - if (const auto & link = unit->item) ++degrees[link->child]; - for (const auto & link : unit->list) ++degrees[link->child]; + for (const auto * const unit : units) { + if (const auto * const link = unit->item) ++degrees[link->child]; + for (const auto * const link : unit->list) ++degrees[link->child]; } // Find initial units that are zero degrees. diff --git a/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp b/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp index 74636adab7415..e4d2e470a0d32 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp @@ -59,7 +59,7 @@ UnitLink * UnitLoader::child() const std::vector UnitLoader::children() const { std::vector result; - for (const auto & config : config_->list) { + for (auto * const config : config_->list) { result.push_back(links_.config_links.at(config)); } return result; diff --git a/system/diagnostic_graph_aggregator/src/common/graph/units.cpp b/system/diagnostic_graph_aggregator/src/common/graph/units.cpp index d9cbdbaa64400..5ebd603964add 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/units.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/units.cpp @@ -145,7 +145,7 @@ MaxUnit::MaxUnit(const UnitLoader & unit) : NodeUnit(unit) void MaxUnit::update_status() { DiagnosticLevel level = DiagnosticStatus::OK; - for (const auto & link : links_) { + for (const auto * const link : links_) { level = std::max(level, link->child()->level()); } status_.level = std::min(level, DiagnosticStatus::ERROR); @@ -155,7 +155,7 @@ void ShortCircuitMaxUnit::update_status() { // TODO(Takagi, Isamu): update link flags. DiagnosticLevel level = DiagnosticStatus::OK; - for (const auto & link : links_) { + for (const auto * const link : links_) { level = std::max(level, link->child()->level()); } status_.level = std::min(level, DiagnosticStatus::ERROR); @@ -171,7 +171,7 @@ void MinUnit::update_status() DiagnosticLevel level = DiagnosticStatus::OK; if (!links_.empty()) { level = DiagnosticStatus::STALE; - for (const auto & link : links_) { + for (const auto * const link : links_) { level = std::min(level, link->child()->level()); } } From d2a3d2ba25b99d39b5e6571caa31309351c117ba Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Mon, 22 Jul 2024 08:14:34 +0900 Subject: [PATCH 282/306] fix(autoware_pose_covariance_modifier): fix funcArgNamesDifferent (#8007) fix:funcArgNamesDifferent Signed-off-by: kobayu858 --- .../src/include/pose_covariance_modifier.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization/autoware_pose_covariance_modifier/src/include/pose_covariance_modifier.hpp b/localization/autoware_pose_covariance_modifier/src/include/pose_covariance_modifier.hpp index ffafe41269468..3a253d785e8a7 100644 --- a/localization/autoware_pose_covariance_modifier/src/include/pose_covariance_modifier.hpp +++ b/localization/autoware_pose_covariance_modifier/src/include/pose_covariance_modifier.hpp @@ -65,7 +65,7 @@ class PoseCovarianceModifierNode : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_double_gnss_position_stddev_; void callback_gnss_pose_with_cov( - const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr & msg); + const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr & msg_pose_with_cov_in); void callback_ndt_pose_with_cov( const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr & msg_pose_with_cov_in); From 3e5c7a1f638929859dfbeb05edbb1b79d3bfb56f Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Mon, 22 Jul 2024 08:15:10 +0900 Subject: [PATCH 283/306] fix(reaction_analyzer): fix constVariableReference (#8063) * fix:constVariableReference Signed-off-by: kobayu858 * fix:constVariableReference Signed-off-by: kobayu858 * fix:constVariableReference Signed-off-by: kobayu858 * fix:suppression constVariableReference Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- tools/reaction_analyzer/src/subscriber.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp index 02d7a3872953a..a5d1be613ee5a 100644 --- a/tools/reaction_analyzer/src/subscriber.cpp +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -272,6 +272,7 @@ void SubscriberBase::on_trajectory( if (zero_vel_idx) { RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); // set header time + // cppcheck-suppress constVariableReference auto & buffer = std::get(variant); buffer->header.stamp = msg_ptr->header.stamp; buffer->published_stamp = msg_ptr->header.stamp; @@ -363,6 +364,7 @@ void SubscriberBase::on_pointcloud( if (search_pointcloud_near_pose(pcl_pointcloud, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); // set header time + // cppcheck-suppress constVariableReference auto & buffer = std::get(variant); buffer->header.stamp = msg_ptr->header.stamp; buffer->published_stamp = msg_ptr->header.stamp; @@ -440,6 +442,7 @@ void SubscriberBase::on_predicted_objects( if (search_predicted_objects_near_pose(*msg_ptr, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); // set header time + // cppcheck-suppress constVariableReference auto & buffer = std::get(variant); buffer->header.stamp = msg_ptr->header.stamp; buffer->published_stamp = msg_ptr->header.stamp; @@ -520,6 +523,7 @@ void SubscriberBase::on_detected_objects( if (search_detected_objects_near_pose(output_objs, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); // set header time + // cppcheck-suppress constVariableReference auto & buffer = std::get(variant); buffer->header.stamp = msg_ptr->header.stamp; buffer->published_stamp = msg_ptr->header.stamp; From 80ed1957dd025633f4669db60cdb652400c2fc89 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 22 Jul 2024 09:28:03 +0900 Subject: [PATCH 284/306] refactor(traffic_light_map_based_detector): fix namespace and directory structure (#7969) refactor: add autoware on the namespace Signed-off-by: Taekjin LEE --- .../CMakeLists.txt | 8 ++++---- .../traffic_light_map_based_detector/package.xml | 1 - ...=> traffic_light_map_based_detector_node.cpp} | 16 ++++++++-------- .../traffic_light_map_based_detector_node.hpp} | 10 +++++----- 4 files changed, 17 insertions(+), 18 deletions(-) rename perception/traffic_light_map_based_detector/src/{node.cpp => traffic_light_map_based_detector_node.cpp} (99%) rename perception/traffic_light_map_based_detector/{include/traffic_light_map_based_detector/node.hpp => src/traffic_light_map_based_detector_node.hpp} (97%) diff --git a/perception/traffic_light_map_based_detector/CMakeLists.txt b/perception/traffic_light_map_based_detector/CMakeLists.txt index 75a4bf9064782..d3c1f1548937c 100644 --- a/perception/traffic_light_map_based_detector/CMakeLists.txt +++ b/perception/traffic_light_map_based_detector/CMakeLists.txt @@ -11,12 +11,12 @@ include_directories( ${EIGEN3_INCLUDE_DIR} ) -ament_auto_add_library(traffic_light_map_based_detector SHARED - src/node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/traffic_light_map_based_detector_node.cpp ) -rclcpp_components_register_node(traffic_light_map_based_detector - PLUGIN "traffic_light::MapBasedDetector" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::traffic_light::MapBasedDetector" EXECUTABLE traffic_light_map_based_detector_node ) diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml index 7553b136d791a..c25773acd8914 100644 --- a/perception/traffic_light_map_based_detector/package.xml +++ b/perception/traffic_light_map_based_detector/package.xml @@ -15,7 +15,6 @@ autoware_lanelet2_extension autoware_map_msgs - autoware_planning_msgs autoware_universe_utils geometry_msgs image_geometry diff --git a/perception/traffic_light_map_based_detector/src/node.cpp b/perception/traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp similarity index 99% rename from perception/traffic_light_map_based_detector/src/node.cpp rename to perception/traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp index c1fbd4a4ad4f2..d133fe0b443d1 100644 --- a/perception/traffic_light_map_based_detector/src/node.cpp +++ b/perception/traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp @@ -12,8 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_map_based_detector/node.hpp" +#define EIGEN_MPL2_ONLY + +#include "traffic_light_map_based_detector_node.hpp" +#include +#include #include #include #include @@ -27,10 +31,6 @@ #include #include -#define EIGEN_MPL2_ONLY -#include -#include - #ifdef ROS_DISTRO_GALACTIC #include #else @@ -118,7 +118,7 @@ tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_li } // namespace -namespace traffic_light +namespace autoware::traffic_light { MapBasedDetector::MapBasedDetector(const rclcpp::NodeOptions & node_options) : Node("traffic_light_map_based_detector", node_options), @@ -605,7 +605,7 @@ void MapBasedDetector::publishVisibleTrafficLights( } pub->publish(output_msg); } -} // namespace traffic_light +} // namespace autoware::traffic_light #include -RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::MapBasedDetector) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::MapBasedDetector) diff --git a/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp b/perception/traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.hpp similarity index 97% rename from perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp rename to perception/traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.hpp index 3aeba4c4a913a..6a2d00874fda0 100644 --- a/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp +++ b/perception/traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_MAP_BASED_DETECTOR__NODE_HPP_ -#define TRAFFIC_LIGHT_MAP_BASED_DETECTOR__NODE_HPP_ +#ifndef TRAFFIC_LIGHT_MAP_BASED_DETECTOR_NODE_HPP_ +#define TRAFFIC_LIGHT_MAP_BASED_DETECTOR_NODE_HPP_ #include #include @@ -44,7 +44,7 @@ #include #include -namespace traffic_light +namespace autoware::traffic_light { class MapBasedDetector : public rclcpp::Node { @@ -196,5 +196,5 @@ class MapBasedDetector : public rclcpp::Node const std::vector & visible_traffic_lights, const rclcpp::Publisher::SharedPtr pub); }; -} // namespace traffic_light -#endif // TRAFFIC_LIGHT_MAP_BASED_DETECTOR__NODE_HPP_ +} // namespace autoware::traffic_light +#endif // TRAFFIC_LIGHT_MAP_BASED_DETECTOR_NODE_HPP_ From 852a921b9660c8efb58696a6b146bfdcf9a9fb31 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 22 Jul 2024 09:29:00 +0900 Subject: [PATCH 285/306] refactor(traffic_light_multi_camera_fusion): fix namespace and directory structure (#7972) refactor: add autoware on the namespace Signed-off-by: Taekjin LEE --- .../CMakeLists.txt | 8 ++++---- ...=> traffic_light_multi_camera_fusion_node.cpp} | 15 +++++++++------ .../traffic_light_multi_camera_fusion_node.hpp} | 10 +++++----- 3 files changed, 18 insertions(+), 15 deletions(-) rename perception/traffic_light_multi_camera_fusion/src/{node.cpp => traffic_light_multi_camera_fusion_node.cpp} (96%) rename perception/traffic_light_multi_camera_fusion/{include/traffic_light_multi_camera_fusion/node.hpp => src/traffic_light_multi_camera_fusion_node.hpp} (95%) diff --git a/perception/traffic_light_multi_camera_fusion/CMakeLists.txt b/perception/traffic_light_multi_camera_fusion/CMakeLists.txt index 5765ebf58fd45..a99a37aebdedc 100644 --- a/perception/traffic_light_multi_camera_fusion/CMakeLists.txt +++ b/perception/traffic_light_multi_camera_fusion/CMakeLists.txt @@ -8,12 +8,12 @@ include_directories( SYSTEM ) -ament_auto_add_library(traffic_light_multi_camera_fusion SHARED - src/node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/traffic_light_multi_camera_fusion_node.cpp ) -rclcpp_components_register_node(traffic_light_multi_camera_fusion - PLUGIN "traffic_light::MultiCameraFusion" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::traffic_light::MultiCameraFusion" EXECUTABLE traffic_light_multi_camera_fusion_node ) diff --git a/perception/traffic_light_multi_camera_fusion/src/node.cpp b/perception/traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp similarity index 96% rename from perception/traffic_light_multi_camera_fusion/src/node.cpp rename to perception/traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp index 0e10fec3dbb87..70841b936af37 100644 --- a/perception/traffic_light_multi_camera_fusion/src/node.cpp +++ b/perception/traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_multi_camera_fusion/node.hpp" +#include "traffic_light_multi_camera_fusion_node.hpp" #include #include @@ -20,6 +20,7 @@ #include #include #include +#include #include namespace @@ -39,7 +40,7 @@ bool isUnknown(const tier4_perception_msgs::msg::TrafficLight & signal) * @param record fusion record * @return 0 if traffic light is truncated, otherwise 1 */ -int calVisibleScore(const traffic_light::FusionRecord & record) +int calVisibleScore(const autoware::traffic_light::FusionRecord & record) { const uint32_t boundary = 5; uint32_t x1 = record.roi.roi.x_offset; @@ -55,7 +56,9 @@ int calVisibleScore(const traffic_light::FusionRecord & record) } } -int compareRecord(const traffic_light::FusionRecord & r1, const traffic_light::FusionRecord & r2) +int compareRecord( + const autoware::traffic_light::FusionRecord & r1, + const autoware::traffic_light::FusionRecord & r2) { /* if both records are from the same sensor but different stamp, trust the latest one @@ -133,7 +136,7 @@ autoware_perception_msgs::msg::TrafficLightElement convert( } // namespace -namespace traffic_light +namespace autoware::traffic_light { MultiCameraFusion::MultiCameraFusion(const rclcpp::NodeOptions & node_options) @@ -319,7 +322,7 @@ void MultiCameraFusion::groupFusion( } } -} // namespace traffic_light +} // namespace autoware::traffic_light #include -RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::MultiCameraFusion) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::MultiCameraFusion) diff --git a/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp b/perception/traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp similarity index 95% rename from perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp rename to perception/traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp index 4389b5d3c1aa1..23bc59c26b293 100644 --- a/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp +++ b/perception/traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_MULTI_CAMERA_FUSION__NODE_HPP_ -#define TRAFFIC_LIGHT_MULTI_CAMERA_FUSION__NODE_HPP_ +#ifndef TRAFFIC_LIGHT_MULTI_CAMERA_FUSION_NODE_HPP_ +#define TRAFFIC_LIGHT_MULTI_CAMERA_FUSION_NODE_HPP_ #include @@ -36,7 +36,7 @@ #include #include -namespace traffic_light +namespace autoware::traffic_light { namespace mf = message_filters; @@ -125,5 +125,5 @@ class MultiCameraFusion : public rclcpp::Node */ double message_lifespan_; }; -} // namespace traffic_light -#endif // TRAFFIC_LIGHT_MULTI_CAMERA_FUSION__NODE_HPP_ +} // namespace autoware::traffic_light +#endif // TRAFFIC_LIGHT_MULTI_CAMERA_FUSION_NODE_HPP_ From 1d23cbc98d23bbf0c22fac59b0e60819cb5849be Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 22 Jul 2024 09:35:32 +0900 Subject: [PATCH 286/306] refactor(traffic_light_classifier): fix namespace and directory structure (#7970) * refactor: update namespace for traffic light classifier code Signed-off-by: Taekjin LEE * refactor: directory structure Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../traffic_light_node_container.launch.py | 4 +-- .../traffic_light_classifier/CMakeLists.txt | 28 +++++++++---------- .../classifier}/classifier_interface.hpp | 10 +++---- .../src/{ => classifier}/cnn_classifier.cpp | 7 +++-- .../classifier}/cnn_classifier.hpp | 12 ++++---- .../src/{ => classifier}/color_classifier.cpp | 6 ++-- .../classifier}/color_classifier.hpp | 12 ++++---- .../src/single_image_debug_inference_node.cpp | 12 ++++---- ....cpp => traffic_light_classifier_node.cpp} | 8 +++--- .../traffic_light_classifier_node.hpp} | 16 +++++------ 10 files changed, 58 insertions(+), 57 deletions(-) rename perception/traffic_light_classifier/{include/traffic_light_classifier => src/classifier}/classifier_interface.hpp (79%) rename perception/traffic_light_classifier/src/{ => classifier}/cnn_classifier.cpp (98%) rename perception/traffic_light_classifier/{include/traffic_light_classifier => src/classifier}/cnn_classifier.hpp (94%) rename perception/traffic_light_classifier/src/{ => classifier}/color_classifier.cpp (99%) rename perception/traffic_light_classifier/{include/traffic_light_classifier => src/classifier}/color_classifier.hpp (88%) rename perception/traffic_light_classifier/src/{nodelet.cpp => traffic_light_classifier_node.cpp} (96%) rename perception/traffic_light_classifier/{include/traffic_light_classifier/nodelet.hpp => src/traffic_light_classifier_node.hpp} (88%) diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py index e467aba5d4e98..6e77fa71cd553 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py @@ -56,7 +56,7 @@ def create_parameter_dict(*args): composable_node_descriptions=[ ComposableNode( package="traffic_light_classifier", - plugin="traffic_light::TrafficLightClassifierNodelet", + plugin="autoware::traffic_light::TrafficLightClassifierNodelet", name="car_traffic_light_classifier", namespace="classification", parameters=[car_traffic_light_classifier_model_param], @@ -71,7 +71,7 @@ def create_parameter_dict(*args): ), ComposableNode( package="traffic_light_classifier", - plugin="traffic_light::TrafficLightClassifierNodelet", + plugin="autoware::traffic_light::TrafficLightClassifierNodelet", name="pedestrian_traffic_light_classifier", namespace="classification", parameters=[pedestrian_traffic_light_classifier_model_param], diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt index a81dc6ab1e6ce..c6c33da839c49 100644 --- a/perception/traffic_light_classifier/CMakeLists.txt +++ b/perception/traffic_light_classifier/CMakeLists.txt @@ -79,9 +79,9 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ) ament_auto_add_library(traffic_light_classifier_nodelet SHARED - src/color_classifier.cpp - src/cnn_classifier.cpp - src/nodelet.cpp + src/classifier/color_classifier.cpp + src/classifier/cnn_classifier.cpp + src/traffic_light_classifier_node.cpp ) target_link_libraries(traffic_light_classifier_nodelet ${OpenCV_LIBRARIES} @@ -94,14 +94,14 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) stdc++fs ) rclcpp_components_register_node(traffic_light_classifier_nodelet - PLUGIN "traffic_light::TrafficLightClassifierNodelet" + PLUGIN "autoware::traffic_light::TrafficLightClassifierNodelet" EXECUTABLE traffic_light_classifier_node ) ament_auto_add_library(single_image_debug_inference_node SHARED - src/cnn_classifier.cpp - src/color_classifier.cpp - src/nodelet.cpp + src/classifier/cnn_classifier.cpp + src/classifier/color_classifier.cpp + src/traffic_light_classifier_node.cpp src/single_image_debug_inference_node.cpp ) target_link_libraries(single_image_debug_inference_node @@ -117,7 +117,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) opencv_highgui ) rclcpp_components_register_node(single_image_debug_inference_node - PLUGIN "traffic_light::SingleImageDebugInferenceNode" + PLUGIN "autoware::traffic_light::SingleImageDebugInferenceNode" EXECUTABLE single_image_debug_inference ) @@ -133,16 +133,16 @@ else() ${OpenCV_INCLUDE_DIRS} ) - ament_auto_add_library(traffic_light_classifier_nodelet SHARED - src/color_classifier.cpp - src/nodelet.cpp + ament_auto_add_library(${PROJECT_NAME} SHARED + src/classifier/color_classifier.cpp + src/traffic_light_classifier_node.cpp ) - target_link_libraries(traffic_light_classifier_nodelet + target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ) - rclcpp_components_register_node(traffic_light_classifier_nodelet - PLUGIN "traffic_light::TrafficLightClassifierNodelet" + rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::traffic_light::TrafficLightClassifierNodelet" EXECUTABLE traffic_light_classifier_node ) diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp b/perception/traffic_light_classifier/src/classifier/classifier_interface.hpp similarity index 79% rename from perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp rename to perception/traffic_light_classifier/src/classifier/classifier_interface.hpp index 563850da9d2f4..cff5828a5b00f 100644 --- a/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp +++ b/perception/traffic_light_classifier/src/classifier/classifier_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_CLASSIFIER__CLASSIFIER_INTERFACE_HPP_ -#define TRAFFIC_LIGHT_CLASSIFIER__CLASSIFIER_INTERFACE_HPP_ +#ifndef CLASSIFIER__CLASSIFIER_INTERFACE_HPP_ +#define CLASSIFIER__CLASSIFIER_INTERFACE_HPP_ #include #include @@ -22,7 +22,7 @@ #include -namespace traffic_light +namespace autoware::traffic_light { class ClassifierInterface { @@ -31,6 +31,6 @@ class ClassifierInterface const std::vector & input_image, tier4_perception_msgs::msg::TrafficLightArray & traffic_signals) = 0; }; -} // namespace traffic_light +} // namespace autoware::traffic_light -#endif // TRAFFIC_LIGHT_CLASSIFIER__CLASSIFIER_INTERFACE_HPP_ +#endif // CLASSIFIER__CLASSIFIER_INTERFACE_HPP_ diff --git a/perception/traffic_light_classifier/src/cnn_classifier.cpp b/perception/traffic_light_classifier/src/classifier/cnn_classifier.cpp similarity index 98% rename from perception/traffic_light_classifier/src/cnn_classifier.cpp rename to perception/traffic_light_classifier/src/classifier/cnn_classifier.cpp index d6ba81041c6f8..4b83fea4371e2 100644 --- a/perception/traffic_light_classifier/src/cnn_classifier.cpp +++ b/perception/traffic_light_classifier/src/classifier/cnn_classifier.cpp @@ -12,18 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_classifier/cnn_classifier.hpp" +#include "cnn_classifier.hpp" #include #include #include +#include #include #include #include -namespace traffic_light +namespace autoware::traffic_light { CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) { @@ -207,4 +208,4 @@ bool CNNClassifier::isColorLabel(const std::string label) return false; } -} // namespace traffic_light +} // namespace autoware::traffic_light diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp b/perception/traffic_light_classifier/src/classifier/cnn_classifier.hpp similarity index 94% rename from perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp rename to perception/traffic_light_classifier/src/classifier/cnn_classifier.hpp index 545a080763ef4..4b9eea31cfe07 100644 --- a/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp +++ b/perception/traffic_light_classifier/src/classifier/cnn_classifier.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_CLASSIFIER__CNN_CLASSIFIER_HPP_ -#define TRAFFIC_LIGHT_CLASSIFIER__CNN_CLASSIFIER_HPP_ +#ifndef CLASSIFIER__CNN_CLASSIFIER_HPP_ +#define CLASSIFIER__CNN_CLASSIFIER_HPP_ -#include "traffic_light_classifier/classifier_interface.hpp" +#include "classifier_interface.hpp" #include #include @@ -41,7 +41,7 @@ #include #include -namespace traffic_light +namespace autoware::traffic_light { using cuda_utils::CudaUniquePtr; @@ -118,6 +118,6 @@ class CNNClassifier : public ClassifierInterface std::vector std_; }; -} // namespace traffic_light +} // namespace autoware::traffic_light -#endif // TRAFFIC_LIGHT_CLASSIFIER__CNN_CLASSIFIER_HPP_ +#endif // CLASSIFIER__CNN_CLASSIFIER_HPP_ diff --git a/perception/traffic_light_classifier/src/color_classifier.cpp b/perception/traffic_light_classifier/src/classifier/color_classifier.cpp similarity index 99% rename from perception/traffic_light_classifier/src/color_classifier.cpp rename to perception/traffic_light_classifier/src/classifier/color_classifier.cpp index 604568b585a63..6f9800683aa27 100644 --- a/perception/traffic_light_classifier/src/color_classifier.cpp +++ b/perception/traffic_light_classifier/src/classifier/color_classifier.cpp @@ -11,7 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_classifier/color_classifier.hpp" +#include "color_classifier.hpp" #include @@ -19,7 +19,7 @@ #include #include -namespace traffic_light +namespace autoware::traffic_light { ColorClassifier::ColorClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) { @@ -255,4 +255,4 @@ rcl_interfaces::msg::SetParametersResult ColorClassifier::parametersCallback( return result; } -} // namespace traffic_light +} // namespace autoware::traffic_light diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp b/perception/traffic_light_classifier/src/classifier/color_classifier.hpp similarity index 88% rename from perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp rename to perception/traffic_light_classifier/src/classifier/color_classifier.hpp index 38f2d7f6a48db..6e11a6f6f3d84 100644 --- a/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp +++ b/perception/traffic_light_classifier/src/classifier/color_classifier.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_CLASSIFIER__COLOR_CLASSIFIER_HPP_ -#define TRAFFIC_LIGHT_CLASSIFIER__COLOR_CLASSIFIER_HPP_ +#ifndef CLASSIFIER__COLOR_CLASSIFIER_HPP_ +#define CLASSIFIER__COLOR_CLASSIFIER_HPP_ -#include "traffic_light_classifier/classifier_interface.hpp" +#include "classifier_interface.hpp" #include #include @@ -32,7 +32,7 @@ #include -namespace traffic_light +namespace autoware::traffic_light { struct HSVConfig { @@ -93,6 +93,6 @@ class ColorClassifier : public ClassifierInterface cv::Scalar max_hsv_red_; }; -} // namespace traffic_light +} // namespace autoware::traffic_light -#endif // TRAFFIC_LIGHT_CLASSIFIER__COLOR_CLASSIFIER_HPP_ +#endif // CLASSIFIER__COLOR_CLASSIFIER_HPP_ diff --git a/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp index f6f963086bdd7..245dc069af163 100644 --- a/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp +++ b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp @@ -15,11 +15,11 @@ #include #if ENABLE_GPU -#include +#include "classifier/cnn_classifier.hpp" #endif -#include -#include +#include "classifier/color_classifier.hpp" +#include "traffic_light_classifier_node.hpp" #include #include @@ -60,7 +60,7 @@ std::string toString(const uint8_t state) } } // namespace -namespace traffic_light +namespace autoware::traffic_light { class SingleImageDebugInferenceNode : public rclcpp::Node { @@ -159,7 +159,7 @@ class SingleImageDebugInferenceNode : public rclcpp::Node cv::Mat image_; std::unique_ptr classifier_ptr_; }; -} // namespace traffic_light +} // namespace autoware::traffic_light #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::SingleImageDebugInferenceNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::SingleImageDebugInferenceNode) diff --git a/perception/traffic_light_classifier/src/nodelet.cpp b/perception/traffic_light_classifier/src/traffic_light_classifier_node.cpp similarity index 96% rename from perception/traffic_light_classifier/src/nodelet.cpp rename to perception/traffic_light_classifier/src/traffic_light_classifier_node.cpp index 6378a98fdc8cc..b42ded4cbffa3 100644 --- a/perception/traffic_light_classifier/src/nodelet.cpp +++ b/perception/traffic_light_classifier/src/traffic_light_classifier_node.cpp @@ -11,7 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_classifier/nodelet.hpp" +#include "traffic_light_classifier_node.hpp" #include @@ -20,7 +20,7 @@ #include #include -namespace traffic_light +namespace autoware::traffic_light { TrafficLightClassifierNodelet::TrafficLightClassifierNodelet(const rclcpp::NodeOptions & options) : Node("traffic_light_classifier_node", options) @@ -169,8 +169,8 @@ bool TrafficLightClassifierNodelet::is_harsh_backlight(const cv::Mat & img) cons return backlight_threshold_ <= intensity; } -} // namespace traffic_light +} // namespace autoware::traffic_light #include -RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::TrafficLightClassifierNodelet) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::TrafficLightClassifierNodelet) diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp b/perception/traffic_light_classifier/src/traffic_light_classifier_node.hpp similarity index 88% rename from perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp rename to perception/traffic_light_classifier/src/traffic_light_classifier_node.hpp index d48dd8aba3b95..d86880744929f 100644 --- a/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp +++ b/perception/traffic_light_classifier/src/traffic_light_classifier_node.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_CLASSIFIER__NODELET_HPP_ -#define TRAFFIC_LIGHT_CLASSIFIER__NODELET_HPP_ +#ifndef TRAFFIC_LIGHT_CLASSIFIER_NODE_HPP_ +#define TRAFFIC_LIGHT_CLASSIFIER_NODE_HPP_ -#include "traffic_light_classifier/classifier_interface.hpp" +#include "classifier/classifier_interface.hpp" #include #include @@ -43,15 +43,15 @@ #include #if ENABLE_GPU -#include "traffic_light_classifier/cnn_classifier.hpp" +#include "classifier/cnn_classifier.hpp" #endif -#include "traffic_light_classifier/color_classifier.hpp" +#include "classifier/color_classifier.hpp" #include #include -namespace traffic_light +namespace autoware::traffic_light { class TrafficLightClassifierNodelet : public rclcpp::Node { @@ -93,6 +93,6 @@ class TrafficLightClassifierNodelet : public rclcpp::Node bool is_harsh_backlight(const cv::Mat & img) const; }; -} // namespace traffic_light +} // namespace autoware::traffic_light -#endif // TRAFFIC_LIGHT_CLASSIFIER__NODELET_HPP_ +#endif // TRAFFIC_LIGHT_CLASSIFIER_NODE_HPP_ From dec06c520a2d1cd530ecb0e289168fb88bc1dfe3 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Mon, 22 Jul 2024 11:00:30 +0900 Subject: [PATCH 287/306] refactor(tensorrt_classifier)!: fix namespace and directory structure (#8009) * add prefix into Signed-off-by: MasatoSaeki * add prefix in CODEOWNERS Signed-off-by: MasatoSaeki * remove invalid author Signed-off-by: MasatoSaeki * style(pre-commit): autofix * add prefix Signed-off-by: MasatoSaeki * style(pre-commit): autofix * ci Signed-off-by: MasatoSaeki * for ci Signed-off-by: MasatoSaeki --------- Signed-off-by: MasatoSaeki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 2 +- .../README.md | 0 .../tensorrt_classifier/calibrator.hpp | 10 ++++---- .../tensorrt_classifier/preprocess.h | 6 ++--- .../tensorrt_classifier.hpp | 10 ++++---- .../package.xml | 3 +-- .../src/preprocess.cu | 2 +- .../src/tensorrt_classifier.cpp | 23 ++++++++++--------- .../traffic_light_classifier/package.xml | 2 +- .../src/classifier/cnn_classifier.cpp | 2 +- .../src/classifier/cnn_classifier.hpp | 4 ++-- 12 files changed, 33 insertions(+), 33 deletions(-) rename perception/{tensorrt_classifier => autoware_tensorrt_classifier}/CMakeLists.txt (97%) rename perception/{tensorrt_classifier => autoware_tensorrt_classifier}/README.md (100%) rename perception/{tensorrt_classifier/include => autoware_tensorrt_classifier/include/autoware}/tensorrt_classifier/calibrator.hpp (98%) rename perception/{tensorrt_classifier/include => autoware_tensorrt_classifier/include/autoware}/tensorrt_classifier/preprocess.h (97%) rename perception/{tensorrt_classifier/include => autoware_tensorrt_classifier/include/autoware}/tensorrt_classifier/tensorrt_classifier.hpp (93%) rename perception/{tensorrt_classifier => autoware_tensorrt_classifier}/package.xml (91%) rename perception/{tensorrt_classifier => autoware_tensorrt_classifier}/src/preprocess.cu (99%) rename perception/{tensorrt_classifier => autoware_tensorrt_classifier}/src/tensorrt_classifier.cpp (94%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 7c8c123a4ade1..4bf5355c24fd0 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -136,7 +136,7 @@ perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp -perception/tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp +perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp perception/traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp diff --git a/perception/tensorrt_classifier/CMakeLists.txt b/perception/autoware_tensorrt_classifier/CMakeLists.txt similarity index 97% rename from perception/tensorrt_classifier/CMakeLists.txt rename to perception/autoware_tensorrt_classifier/CMakeLists.txt index 9f879a2c0c56d..88747a1e9240c 100644 --- a/perception/tensorrt_classifier/CMakeLists.txt +++ b/perception/autoware_tensorrt_classifier/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(tensorrt_classifier) +project(autoware_tensorrt_classifier) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3 -Wno-write-strings -fopenmp -Wall") diff --git a/perception/tensorrt_classifier/README.md b/perception/autoware_tensorrt_classifier/README.md similarity index 100% rename from perception/tensorrt_classifier/README.md rename to perception/autoware_tensorrt_classifier/README.md diff --git a/perception/tensorrt_classifier/include/tensorrt_classifier/calibrator.hpp b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp similarity index 98% rename from perception/tensorrt_classifier/include/tensorrt_classifier/calibrator.hpp rename to perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp index b4d687c3c4fd9..088297f5bf796 100644 --- a/perception/tensorrt_classifier/include/tensorrt_classifier/calibrator.hpp +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp @@ -34,8 +34,8 @@ * DEALINGS IN THE SOFTWARE. */ -#ifndef TENSORRT_CLASSIFIER__CALIBRATOR_HPP_ -#define TENSORRT_CLASSIFIER__CALIBRATOR_HPP_ +#ifndef AUTOWARE__TENSORRT_CLASSIFIER__CALIBRATOR_HPP_ +#define AUTOWARE__TENSORRT_CLASSIFIER__CALIBRATOR_HPP_ #include "cuda_utils/cuda_check_error.hpp" #include "cuda_utils/cuda_unique_ptr.hpp" @@ -52,7 +52,7 @@ #include #include -namespace tensorrt_classifier +namespace autoware::tensorrt_classifier { class ImageStream { @@ -524,6 +524,6 @@ class Int8MinMaxCalibrator : public nvinfer1::IInt8MinMaxCalibrator // std for preprocessing std::vector m_std; }; -} // namespace tensorrt_classifier +} // namespace autoware::tensorrt_classifier -#endif // TENSORRT_CLASSIFIER__CALIBRATOR_HPP_ +#endif // AUTOWARE__TENSORRT_CLASSIFIER__CALIBRATOR_HPP_ diff --git a/perception/tensorrt_classifier/include/tensorrt_classifier/preprocess.h b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/preprocess.h similarity index 97% rename from perception/tensorrt_classifier/include/tensorrt_classifier/preprocess.h rename to perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/preprocess.h index 55295a57ad5b8..51f4e973ba7ca 100644 --- a/perception/tensorrt_classifier/include/tensorrt_classifier/preprocess.h +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/preprocess.h @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TENSORRT_CLASSIFIER__PREPROCESS_H_ -#define TENSORRT_CLASSIFIER__PREPROCESS_H_ +#ifndef AUTOWARE__TENSORRT_CLASSIFIER__PREPROCESS_H_ +#define AUTOWARE__TENSORRT_CLASSIFIER__PREPROCESS_H_ #include #include @@ -178,4 +178,4 @@ extern void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h, int s_c, int batch, float norm, cudaStream_t stream); -#endif // TENSORRT_CLASSIFIER__PREPROCESS_H_ +#endif // AUTOWARE__TENSORRT_CLASSIFIER__PREPROCESS_H_ diff --git a/perception/tensorrt_classifier/include/tensorrt_classifier/tensorrt_classifier.hpp b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp similarity index 93% rename from perception/tensorrt_classifier/include/tensorrt_classifier/tensorrt_classifier.hpp rename to perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp index d95ee52e8fae9..9fb1beaac39de 100644 --- a/perception/tensorrt_classifier/include/tensorrt_classifier/tensorrt_classifier.hpp +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ -#define TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ +#ifndef AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ +#define AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ #include #include @@ -25,7 +25,7 @@ #include #include -namespace tensorrt_classifier +namespace autoware::tensorrt_classifier { using cuda_utils::CudaUniquePtr; using cuda_utils::CudaUniquePtrHost; @@ -129,6 +129,6 @@ class TrtClassifier int batch_size_; CudaUniquePtrHost out_prob_h_; }; -} // namespace tensorrt_classifier +} // namespace autoware::tensorrt_classifier -#endif // TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ +#endif // AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ diff --git a/perception/tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml similarity index 91% rename from perception/tensorrt_classifier/package.xml rename to perception/autoware_tensorrt_classifier/package.xml index 439318c147e76..e41625886d8ae 100644 --- a/perception/tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -1,11 +1,10 @@ - tensorrt_classifier + autoware_tensorrt_classifier 0.0.1 tensorrt classifier wrapper Dan Umeda - Mingyu Li Kotaro Uetake Shunsuke Miura diff --git a/perception/tensorrt_classifier/src/preprocess.cu b/perception/autoware_tensorrt_classifier/src/preprocess.cu similarity index 99% rename from perception/tensorrt_classifier/src/preprocess.cu rename to perception/autoware_tensorrt_classifier/src/preprocess.cu index fd3d758c2c280..07976281faafb 100644 --- a/perception/tensorrt_classifier/src/preprocess.cu +++ b/perception/autoware_tensorrt_classifier/src/preprocess.cu @@ -11,9 +11,9 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. +#include #include #include -#include #include diff --git a/perception/tensorrt_classifier/src/tensorrt_classifier.cpp b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp similarity index 94% rename from perception/tensorrt_classifier/src/tensorrt_classifier.cpp rename to perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp index b7c4ce99fa2e9..a327e6395b2eb 100644 --- a/perception/tensorrt_classifier/src/tensorrt_classifier.cpp +++ b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include +#include +#include +#include #include -#include #include #include @@ -95,7 +95,7 @@ std::vector loadImageList(const std::string & filename, const std:: return fileList; } -namespace tensorrt_classifier +namespace autoware::tensorrt_classifier { TrtClassifier::TrtClassifier( const std::string & model_path, const std::string & precision, @@ -120,7 +120,8 @@ TrtClassifier::TrtClassifier( if (calibration_image_list_path != "") { calibration_images = loadImageList(calibration_image_list_path, ""); } - tensorrt_classifier::ImageStream stream(max_batch_size, input_dims, calibration_images); + autoware::tensorrt_classifier::ImageStream stream( + max_batch_size, input_dims, calibration_images); fs::path calibration_table{model_path}; std::string calibName = ""; std::string ext = ""; @@ -140,17 +141,17 @@ TrtClassifier::TrtClassifier( std::unique_ptr calibrator; if (build_config.calib_type_str == "Entropy") { - calibrator.reset( - new tensorrt_classifier::Int8EntropyCalibrator(stream, calibration_table, mean_, std_)); + calibrator.reset(new autoware::tensorrt_classifier::Int8EntropyCalibrator( + stream, calibration_table, mean_, std_)); } else if ( build_config.calib_type_str == "Legacy" || build_config.calib_type_str == "Percentile") { double quantile = 0.999999; double cutoff = 0.999999; - calibrator.reset(new tensorrt_classifier::Int8LegacyCalibrator( + calibrator.reset(new autoware::tensorrt_classifier::Int8LegacyCalibrator( stream, calibration_table, histogram_table, mean_, std_, true, quantile, cutoff)); } else { - calibrator.reset( - new tensorrt_classifier::Int8MinMaxCalibrator(stream, calibration_table, mean_, std_)); + calibrator.reset(new autoware::tensorrt_classifier::Int8MinMaxCalibrator( + stream, calibration_table, mean_, std_)); } trt_common_ = std::make_unique( model_path, precision, std::move(calibrator), batch_config, max_workspace_size, build_config); @@ -384,4 +385,4 @@ bool TrtClassifier::feedforwardAndDecode( } return true; } -} // namespace tensorrt_classifier +} // namespace autoware::tensorrt_classifier diff --git a/perception/traffic_light_classifier/package.xml b/perception/traffic_light_classifier/package.xml index 9e460e8ad1a1d..aa48eff993132 100644 --- a/perception/traffic_light_classifier/package.xml +++ b/perception/traffic_light_classifier/package.xml @@ -14,6 +14,7 @@ autoware_cmake + autoware_tensorrt_classifier cuda_utils cv_bridge image_transport @@ -22,7 +23,6 @@ rclcpp rclcpp_components sensor_msgs - tensorrt_classifier tensorrt_common tier4_perception_msgs diff --git a/perception/traffic_light_classifier/src/classifier/cnn_classifier.cpp b/perception/traffic_light_classifier/src/classifier/cnn_classifier.cpp index 4b83fea4371e2..6e3ae34297510 100644 --- a/perception/traffic_light_classifier/src/classifier/cnn_classifier.cpp +++ b/perception/traffic_light_classifier/src/classifier/cnn_classifier.cpp @@ -56,7 +56,7 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) batch_size_ = input_dim.d[0]; tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; - classifier_ = std::make_unique( + classifier_ = std::make_unique( model_file_path, precision, batch_config, mean_, std_); if (node_ptr_->declare_parameter("build_only", false)) { RCLCPP_INFO(node_ptr_->get_logger(), "TensorRT engine is built and shutdown node."); diff --git a/perception/traffic_light_classifier/src/classifier/cnn_classifier.hpp b/perception/traffic_light_classifier/src/classifier/cnn_classifier.hpp index 4b9eea31cfe07..348c9cb81728f 100644 --- a/perception/traffic_light_classifier/src/classifier/cnn_classifier.hpp +++ b/perception/traffic_light_classifier/src/classifier/cnn_classifier.hpp @@ -17,6 +17,7 @@ #include "classifier_interface.hpp" +#include #include #include #include @@ -24,7 +25,6 @@ #include #include #include -#include #include #include @@ -111,7 +111,7 @@ class CNNClassifier : public ClassifierInterface rclcpp::Node * node_ptr_; int batch_size_; - std::unique_ptr classifier_; + std::unique_ptr classifier_; image_transport::Publisher image_pub_; std::vector labels_; std::vector mean_; From bc9ea531841c32064dc984c938edfaff86159aa7 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Mon, 22 Jul 2024 12:15:37 +0900 Subject: [PATCH 288/306] refactor(euclidean_cluster): add package name prefix of autoware_ (#8003) * refactor(euclidean_cluster): add package name prefix of autoware_ Signed-off-by: badai-nguyen * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/CODEOWNERS | 2 +- .../detection/detector/camera_lidar_detector.launch.xml | 2 +- .../detection/detector/lidar_rule_detector.launch.xml | 2 +- launch/tier4_perception_launch/package.xml | 2 +- perception/autoware_detection_by_tracker/package.xml | 2 +- .../CMakeLists.txt | 2 +- .../README.md | 4 ++-- .../config/euclidean_cluster.param.yaml | 0 .../config/voxel_grid_based_euclidean_cluster.param.yaml | 0 .../include/autoware/euclidean_cluster/euclidean_cluster.hpp | 0 .../euclidean_cluster/euclidean_cluster_interface.hpp | 0 .../include/autoware/euclidean_cluster/utils.hpp | 0 .../euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp | 0 .../launch/euclidean_cluster.launch.py | 2 +- .../launch/euclidean_cluster.launch.xml | 4 ++-- .../launch/voxel_grid_based_euclidean_cluster.launch.py | 2 +- .../launch/voxel_grid_based_euclidean_cluster.launch.xml | 4 ++-- .../lib/euclidean_cluster.cpp | 0 .../lib/utils.cpp | 0 .../lib/voxel_grid_based_euclidean_cluster.cpp | 0 .../package.xml | 4 ++-- .../src/euclidean_cluster_node.cpp | 0 .../src/euclidean_cluster_node.hpp | 0 .../src/voxel_grid_based_euclidean_cluster_node.cpp | 0 .../src/voxel_grid_based_euclidean_cluster_node.hpp | 0 .../test/test_voxel_grid_based_euclidean_cluster.cpp | 0 perception/image_projection_based_fusion/package.xml | 2 +- 27 files changed, 17 insertions(+), 17 deletions(-) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/CMakeLists.txt (97%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/README.md (97%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/config/euclidean_cluster.param.yaml (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/config/voxel_grid_based_euclidean_cluster.param.yaml (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/include/autoware/euclidean_cluster/euclidean_cluster.hpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/include/autoware/euclidean_cluster/euclidean_cluster_interface.hpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/include/autoware/euclidean_cluster/utils.hpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/include/autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/launch/euclidean_cluster.launch.py (99%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/launch/euclidean_cluster.launch.xml (80%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/launch/voxel_grid_based_euclidean_cluster.launch.py (99%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/launch/voxel_grid_based_euclidean_cluster.launch.xml (82%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/lib/euclidean_cluster.cpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/lib/utils.cpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/lib/voxel_grid_based_euclidean_cluster.cpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/package.xml (90%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/src/euclidean_cluster_node.cpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/src/euclidean_cluster_node.hpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/src/voxel_grid_based_euclidean_cluster_node.cpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/src/voxel_grid_based_euclidean_cluster_node.hpp (100%) rename perception/{euclidean_cluster => autoware_euclidean_cluster}/test/test_voxel_grid_based_euclidean_cluster.cpp (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 4bf5355c24fd0..5f7e43f74adba 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -121,7 +121,7 @@ perception/detected_object_feature_remover/** tomoya.kimura@tier4.jp perception/detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp shintaro.tomie@tier4.jp taichi.higashide@tier4.jp -perception/euclidean_cluster/** dai.nguyen@tier4.jp yukihiro.saito@tier4.jp +perception/eucliautoware_euclidean_clusterdean_cluster/** dai.nguyen@tier4.jp yukihiro.saito@tier4.jp perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/image_projection_based_fusion/** dai.nguyen@tier4.jp koji.minoda@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml index 9256e90ec3e35..73e0e34611fb3 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml @@ -112,7 +112,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml index 38ee946201f7e..f737d280e039f 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml @@ -10,7 +10,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 0584376a2e80a..340ac7448b96d 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -16,6 +16,7 @@ autoware_cluster_merger autoware_crosswalk_traffic_light_estimator autoware_detection_by_tracker + autoware_euclidean_cluster autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger @@ -31,7 +32,6 @@ detected_object_feature_remover detected_object_validation elevation_map_loader - euclidean_cluster ground_segmentation image_projection_based_fusion image_transport_decompressor diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index 837dfae1e2ef9..dd5a719e70270 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -13,9 +13,9 @@ autoware_cmake eigen3_cmake_module + autoware_euclidean_cluster autoware_universe_utils eigen - euclidean_cluster object_recognition_utils rclcpp rclcpp_components diff --git a/perception/euclidean_cluster/CMakeLists.txt b/perception/autoware_euclidean_cluster/CMakeLists.txt similarity index 97% rename from perception/euclidean_cluster/CMakeLists.txt rename to perception/autoware_euclidean_cluster/CMakeLists.txt index d27390ae7707a..55f664489a4d9 100644 --- a/perception/euclidean_cluster/CMakeLists.txt +++ b/perception/autoware_euclidean_cluster/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(euclidean_cluster) +project(autoware_euclidean_cluster) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/perception/euclidean_cluster/README.md b/perception/autoware_euclidean_cluster/README.md similarity index 97% rename from perception/euclidean_cluster/README.md rename to perception/autoware_euclidean_cluster/README.md index b57204c84cc3b..349d4211ee8e9 100644 --- a/perception/euclidean_cluster/README.md +++ b/perception/autoware_euclidean_cluster/README.md @@ -1,8 +1,8 @@ -# euclidean_cluster +# autoware_euclidean_cluster ## Purpose -euclidean_cluster is a package for clustering points into smaller parts to classify objects. +autoware_euclidean_cluster is a package for clustering points into smaller parts to classify objects. This package has two clustering methods: `euclidean_cluster` and `voxel_grid_based_euclidean_cluster`. diff --git a/perception/euclidean_cluster/config/euclidean_cluster.param.yaml b/perception/autoware_euclidean_cluster/config/euclidean_cluster.param.yaml similarity index 100% rename from perception/euclidean_cluster/config/euclidean_cluster.param.yaml rename to perception/autoware_euclidean_cluster/config/euclidean_cluster.param.yaml diff --git a/perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml b/perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml similarity index 100% rename from perception/euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml rename to perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml diff --git a/perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster.hpp b/perception/autoware_euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster.hpp similarity index 100% rename from perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster.hpp rename to perception/autoware_euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster.hpp diff --git a/perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster_interface.hpp b/perception/autoware_euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster_interface.hpp similarity index 100% rename from perception/euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster_interface.hpp rename to perception/autoware_euclidean_cluster/include/autoware/euclidean_cluster/euclidean_cluster_interface.hpp diff --git a/perception/euclidean_cluster/include/autoware/euclidean_cluster/utils.hpp b/perception/autoware_euclidean_cluster/include/autoware/euclidean_cluster/utils.hpp similarity index 100% rename from perception/euclidean_cluster/include/autoware/euclidean_cluster/utils.hpp rename to perception/autoware_euclidean_cluster/include/autoware/euclidean_cluster/utils.hpp diff --git a/perception/euclidean_cluster/include/autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp b/perception/autoware_euclidean_cluster/include/autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp similarity index 100% rename from perception/euclidean_cluster/include/autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp rename to perception/autoware_euclidean_cluster/include/autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/autoware_euclidean_cluster/launch/euclidean_cluster.launch.py similarity index 99% rename from perception/euclidean_cluster/launch/euclidean_cluster.launch.py rename to perception/autoware_euclidean_cluster/launch/euclidean_cluster.launch.py index 053438a4352b0..9420abe214ecc 100644 --- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py +++ b/perception/autoware_euclidean_cluster/launch/euclidean_cluster.launch.py @@ -33,7 +33,7 @@ def load_composable_node_param(param_path): return yaml.safe_load(f)["/**"]["ros__parameters"] ns = "" - pkg = "euclidean_cluster" + pkg = "autoware_euclidean_cluster" low_height_cropbox_filter_component = ComposableNode( package="pointcloud_preprocessor", diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml b/perception/autoware_euclidean_cluster/launch/euclidean_cluster.launch.xml similarity index 80% rename from perception/euclidean_cluster/launch/euclidean_cluster.launch.xml rename to perception/autoware_euclidean_cluster/launch/euclidean_cluster.launch.xml index f4deeccf7b76c..22d62c4df375a 100644 --- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml +++ b/perception/autoware_euclidean_cluster/launch/euclidean_cluster.launch.xml @@ -4,11 +4,11 @@ - + - + diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/autoware_euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py similarity index 99% rename from perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py rename to perception/autoware_euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py index 0b502b1c43d67..cbc2401ede5b7 100644 --- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py +++ b/perception/autoware_euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py @@ -32,7 +32,7 @@ def load_composable_node_param(param_path): return yaml.safe_load(f)["/**"]["ros__parameters"] ns = "" - pkg = "euclidean_cluster" + pkg = "autoware_euclidean_cluster" low_height_cropbox_filter_component = ComposableNode( package="pointcloud_preprocessor", diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml b/perception/autoware_euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml similarity index 82% rename from perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml rename to perception/autoware_euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml index 3a7c685d8f449..c9ece95e9a606 100644 --- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml +++ b/perception/autoware_euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml @@ -4,11 +4,11 @@ - + - + diff --git a/perception/euclidean_cluster/lib/euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp similarity index 100% rename from perception/euclidean_cluster/lib/euclidean_cluster.cpp rename to perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp diff --git a/perception/euclidean_cluster/lib/utils.cpp b/perception/autoware_euclidean_cluster/lib/utils.cpp similarity index 100% rename from perception/euclidean_cluster/lib/utils.cpp rename to perception/autoware_euclidean_cluster/lib/utils.cpp diff --git a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp similarity index 100% rename from perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp rename to perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp diff --git a/perception/euclidean_cluster/package.xml b/perception/autoware_euclidean_cluster/package.xml similarity index 90% rename from perception/euclidean_cluster/package.xml rename to perception/autoware_euclidean_cluster/package.xml index 45b5d05031c72..076406bd3980a 100644 --- a/perception/euclidean_cluster/package.xml +++ b/perception/autoware_euclidean_cluster/package.xml @@ -1,9 +1,9 @@ - euclidean_cluster + autoware_euclidean_cluster 0.1.0 - The euclidean_cluster package + The autoware_euclidean_cluster package Yukihiro Saito Dai Nguyen Apache License 2.0 diff --git a/perception/euclidean_cluster/src/euclidean_cluster_node.cpp b/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp similarity index 100% rename from perception/euclidean_cluster/src/euclidean_cluster_node.cpp rename to perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp diff --git a/perception/euclidean_cluster/src/euclidean_cluster_node.hpp b/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.hpp similarity index 100% rename from perception/euclidean_cluster/src/euclidean_cluster_node.hpp rename to perception/autoware_euclidean_cluster/src/euclidean_cluster_node.hpp diff --git a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp b/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp similarity index 100% rename from perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp rename to perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp diff --git a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp b/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp similarity index 100% rename from perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp rename to perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp diff --git a/perception/euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp similarity index 100% rename from perception/euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp rename to perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml index f7a95ae4c70d6..924e4c2b446b6 100644 --- a/perception/image_projection_based_fusion/package.xml +++ b/perception/image_projection_based_fusion/package.xml @@ -16,11 +16,11 @@ ament_cmake_auto autoware_cmake + autoware_euclidean_cluster autoware_perception_msgs autoware_point_types autoware_universe_utils cv_bridge - euclidean_cluster image_geometry image_transport lidar_centerpoint From 25892a74715798ea713cb4a9b60c2f15e232668b Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Mon, 22 Jul 2024 13:26:05 +0900 Subject: [PATCH 289/306] fix(detected_object_validation): use search for searching intersected lanelet (#8109) * refactor: use search method of lanelet Signed-off-by: a-maumau * rm unuse and mod args Signed-off-by: a-maumau * style(pre-commit): autofix --------- Signed-off-by: a-maumau Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/lanelet_filter/lanelet_filter.cpp | 58 ++++++++++++------- .../src/lanelet_filter/lanelet_filter.hpp | 8 +-- 2 files changed, 38 insertions(+), 28 deletions(-) diff --git a/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.cpp b/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.cpp index 09440fedc1764..6437134bc98a5 100644 --- a/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.cpp +++ b/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.cpp @@ -23,6 +23,8 @@ #include #include +#include +#include #include namespace autoware::detected_object_validation @@ -76,9 +78,6 @@ void ObjectLaneletFilterNode::mapCallback( lanelet_frame_id_ = map_msg->header.frame_id; lanelet_map_ptr_ = std::make_shared(); lanelet::utils::conversion::fromBinMsg(*map_msg, lanelet_map_ptr_); - const lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_); - road_lanelets_ = lanelet::utils::query::roadLanelets(all_lanelets); - shoulder_lanelets_ = lanelet::utils::query::shoulderLanelets(all_lanelets); } void ObjectLaneletFilterNode::objectCallback( @@ -103,19 +102,15 @@ void ObjectLaneletFilterNode::objectCallback( // calculate convex hull const auto convex_hull = getConvexHull(transformed_objects); + // get intersected lanelets - lanelet::ConstLanelets intersected_road_lanelets = - getIntersectedLanelets(convex_hull, road_lanelets_); - lanelet::ConstLanelets intersected_shoulder_lanelets = - getIntersectedLanelets(convex_hull, shoulder_lanelets_); + lanelet::ConstLanelets intersected_lanelets = getIntersectedLanelets(convex_hull); // filtering process for (size_t index = 0; index < transformed_objects.objects.size(); ++index) { const auto & transformed_object = transformed_objects.objects.at(index); const auto & input_object = input_msg->objects.at(index); - filterObject( - transformed_object, input_object, intersected_road_lanelets, intersected_shoulder_lanelets, - output_object_msg); + filterObject(transformed_object, input_object, intersected_lanelets, output_object_msg); } object_pub_->publish(output_object_msg); published_time_publisher_->publish_if_subscribed(object_pub_, output_object_msg.header.stamp); @@ -133,8 +128,7 @@ void ObjectLaneletFilterNode::objectCallback( bool ObjectLaneletFilterNode::filterObject( const autoware_perception_msgs::msg::DetectedObject & transformed_object, const autoware_perception_msgs::msg::DetectedObject & input_object, - const lanelet::ConstLanelets & intersected_road_lanelets, - const lanelet::ConstLanelets & intersected_shoulder_lanelets, + const lanelet::ConstLanelets & intersected_lanelets, autoware_perception_msgs::msg::DetectedObjects & output_object_msg) { const auto & label = transformed_object.classification.front().label; @@ -143,8 +137,7 @@ bool ObjectLaneletFilterNode::filterObject( // 1. is polygon overlap with road lanelets or shoulder lanelets if (filter_settings_.polygon_overlap_filter) { const bool is_polygon_overlap = - isObjectOverlapLanelets(transformed_object, intersected_road_lanelets) || - isObjectOverlapLanelets(transformed_object, intersected_shoulder_lanelets); + isObjectOverlapLanelets(transformed_object, intersected_lanelets); filter_pass = filter_pass && is_polygon_overlap; } @@ -154,8 +147,7 @@ bool ObjectLaneletFilterNode::filterObject( autoware_perception_msgs::msg::TrackedObjectKinematics::UNAVAILABLE; if (filter_settings_.lanelet_direction_filter && !orientation_not_available) { const bool is_same_direction = - isSameDirectionWithLanelets(intersected_road_lanelets, transformed_object) || - isSameDirectionWithLanelets(intersected_shoulder_lanelets, transformed_object); + isSameDirectionWithLanelets(intersected_lanelets, transformed_object); filter_pass = filter_pass && is_same_direction; } @@ -214,18 +206,40 @@ LinearRing2d ObjectLaneletFilterNode::getConvexHull( return convex_hull; } +// fetch the intersected candidate lanelets with bounding box and then +// check the intersections among the lanelets and the convex hull lanelet::ConstLanelets ObjectLaneletFilterNode::getIntersectedLanelets( - const LinearRing2d & convex_hull, const lanelet::ConstLanelets & road_lanelets) + const LinearRing2d & convex_hull) { + namespace bg = boost::geometry; + lanelet::ConstLanelets intersected_lanelets; - // WARNING: This implementation currently iterate all lanelets, which could degrade performance - // when handling large sized map. - for (const auto & road_lanelet : road_lanelets) { - if (boost::geometry::intersects(convex_hull, road_lanelet.polygon2d().basicPolygon())) { - intersected_lanelets.emplace_back(road_lanelet); + // convert convex_hull to a 2D bounding box for searching in the LaneletMap + bg::model::box> bbox2d_convex_hull; + bg::envelope(convex_hull, bbox2d_convex_hull); + lanelet::BoundingBox2d bbox2d( + lanelet::BasicPoint2d( + bg::get(bbox2d_convex_hull), + bg::get(bbox2d_convex_hull)), + lanelet::BasicPoint2d( + bg::get(bbox2d_convex_hull), + bg::get(bbox2d_convex_hull))); + + lanelet::Lanelets candidates_lanelets = lanelet_map_ptr_->laneletLayer.search(bbox2d); + for (const auto & lanelet : candidates_lanelets) { + // only check the road lanelets and road shoulder lanelets + if ( + lanelet.hasAttribute(lanelet::AttributeName::Subtype) && + (lanelet.attribute(lanelet::AttributeName::Subtype).value() == + lanelet::AttributeValueString::Road || + lanelet.attribute(lanelet::AttributeName::Subtype).value() == "road_shoulder")) { + if (boost::geometry::intersects(convex_hull, lanelet.polygon2d().basicPolygon())) { + intersected_lanelets.emplace_back(lanelet); + } } } + return intersected_lanelets; } diff --git a/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.hpp b/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.hpp index 25d78a160c246..3f7a53d0319be 100644 --- a/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.hpp +++ b/perception/detected_object_validation/src/lanelet_filter/lanelet_filter.hpp @@ -57,8 +57,6 @@ class ObjectLaneletFilterNode : public rclcpp::Node std::unique_ptr debug_publisher_{nullptr}; lanelet::LaneletMapPtr lanelet_map_ptr_; - lanelet::ConstLanelets road_lanelets_; - lanelet::ConstLanelets shoulder_lanelets_; std::string lanelet_frame_id_; tf2_ros::Buffer tf_buffer_; @@ -76,12 +74,10 @@ class ObjectLaneletFilterNode : public rclcpp::Node bool filterObject( const autoware_perception_msgs::msg::DetectedObject & transformed_object, const autoware_perception_msgs::msg::DetectedObject & input_object, - const lanelet::ConstLanelets & intersected_road_lanelets, - const lanelet::ConstLanelets & intersected_shoulder_lanelets, + const lanelet::ConstLanelets & intersected_lanelets, autoware_perception_msgs::msg::DetectedObjects & output_object_msg); LinearRing2d getConvexHull(const autoware_perception_msgs::msg::DetectedObjects &); - lanelet::ConstLanelets getIntersectedLanelets( - const LinearRing2d &, const lanelet::ConstLanelets &); + lanelet::ConstLanelets getIntersectedLanelets(const LinearRing2d &); bool isObjectOverlapLanelets( const autoware_perception_msgs::msg::DetectedObject & object, const lanelet::ConstLanelets & intersected_lanelets); From fa6b895446b547cd1b115f80bdc4c2e7f0857d69 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 22 Jul 2024 13:44:59 +0900 Subject: [PATCH 290/306] fix(autoware_multi_object_tracker): missing parameter schema path fix (#8120) fix: missing parameter schema path fix Signed-off-by: Taekjin LEE --- perception/autoware_multi_object_tracker/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/autoware_multi_object_tracker/README.md b/perception/autoware_multi_object_tracker/README.md index 447c74d9b3450..afb1598645733 100644 --- a/perception/autoware_multi_object_tracker/README.md +++ b/perception/autoware_multi_object_tracker/README.md @@ -65,16 +65,16 @@ Multiple inputs are pre-defined in the input channel parameters (described below ### Input Channel parameters -{{ json_to_markdown("perception/multi_object_tracker/schema/input_channels.schema.json") }} +{{ json_to_markdown("perception/autoware_multi_object_tracker/schema/input_channels.schema.json") }} ### Core Parameters -{{ json_to_markdown("perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json") }} -{{ json_to_markdown("perception/multi_object_tracker/schema/data_association_matrix.schema.json") }} +{{ json_to_markdown("perception/autoware_multi_object_tracker/schema/multi_object_tracker_node.schema.json") }} +{{ json_to_markdown("perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json") }} #### Simulation parameters -{{ json_to_markdown("perception/multi_object_tracker/schema/simulation_tracker.schema.json") }} +{{ json_to_markdown("perception/autoware_multi_object_tracker/schema/simulation_tracker.schema.json") }} ## Assumptions / Known limits From 719a5823d2c16d2b9015c8be8eea74e9348603c2 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 22 Jul 2024 13:54:18 +0900 Subject: [PATCH 291/306] refactor(vehicle_cmd_gate)!: delete rate limit skipping function for vehicle departure (#7720) * delete a fucntion block. More appropriate function can be achieved by the parameter settings. * add notation to readme --------- Signed-off-by: Yuki Takagi --- control/autoware_vehicle_cmd_gate/README.md | 4 ++++ .../config/vehicle_cmd_gate.param.yaml | 16 ++++++++-------- .../src/vehicle_cmd_gate.cpp | 18 ------------------ 3 files changed, 12 insertions(+), 26 deletions(-) diff --git a/control/autoware_vehicle_cmd_gate/README.md b/control/autoware_vehicle_cmd_gate/README.md index 2d6f5c5f949af..e46db3c06cfeb 100644 --- a/control/autoware_vehicle_cmd_gate/README.md +++ b/control/autoware_vehicle_cmd_gate/README.md @@ -78,6 +78,10 @@ The limitation values are calculated based on the 1D interpolation of the limita Notation: this filter is not designed to enhance ride comfort. Its main purpose is to detect and remove abnormal values in the control outputs during the final stages of Autoware. If this filter is frequently active, it implies the control module may need tuning. If you're aiming to smoothen the signal via a low-pass filter or similar techniques, that should be handled in the control module. When the filter is activated, the topic `~/is_filter_activated` is published. +Notation 2: If you use vehicles in which the driving force is controlled by the accelerator/brake pedal, the jerk limit, denoting the pedal rate limit, must be sufficiently relaxed at low speeds. +Otherwise, quick pedal changes at start/stop will not be possible, resulting in slow starts and creep down on hills. +This functionality for starting/stopping was embedded in the source code but was removed because it was complex and could be achieved by parameters. + ## Assumptions / Known limits The parameter `check_external_emergency_heartbeat` (true by default) enables an emergency stop request from external modules. diff --git a/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml index 54c87f45b6a96..74affea696893 100644 --- a/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml +++ b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml @@ -16,14 +16,14 @@ stop_check_duration: 1.0 nominal: vel_lim: 25.0 - reference_speed_points: [20.0, 30.0] - steer_lim: [1.0, 0.8] - steer_rate_lim: [1.0, 0.8] - lon_acc_lim: [5.0, 4.0] - lon_jerk_lim: [5.0, 4.0] - lat_acc_lim: [5.0, 4.0] - lat_jerk_lim: [7.0, 6.0] - actual_steer_diff_lim: [1.0, 0.8] + reference_speed_points: [0.1, 0.3, 20.0, 30.0] + steer_lim: [1.0, 1.0, 1.0, 0.8] + steer_rate_lim: [1.0, 1.0, 1.0, 0.8] + lon_acc_lim: [5.0, 5.0, 5.0, 4.0] + lon_jerk_lim: [80.0, 5.0, 5.0, 4.0] # The first element is required for quick pedal changes when stopping and starting. + lat_acc_lim: [5.0, 5.0, 5.0, 4.0] + lat_jerk_lim: [7.0, 7.0, 7.0, 6.0] + actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8] on_transition: vel_lim: 50.0 reference_speed_points: [20.0, 30.0] diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index 87e79f59bc356..dd6e2f0f54aea 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -607,7 +607,6 @@ Control VehicleCmdGate::filterControlCommand(const Control & in) const auto mode = current_operation_mode_; const auto current_status_cmd = getActualStatusAsCommand(); const auto ego_is_stopped = vehicle_stop_checker_->isVehicleStopped(stop_check_duration_); - const auto input_cmd_is_stopping = in.longitudinal.acceleration < 0.0; filter_.setCurrentSpeed(current_kinematics_.twist.twist.linear.x); filter_on_transition_.setCurrentSpeed(current_kinematics_.twist.twist.linear.x); @@ -618,23 +617,6 @@ Control VehicleCmdGate::filterControlCommand(const Control & in) if (mode.is_in_transition) { filter_on_transition_.filterAll(dt, current_steer_, out, is_filter_activated); } else { - // When ego is stopped and the input command is not stopping, - // use the higher of actual vehicle longitudinal state - // and previous longitudinal command for the filtering - // this is to prevent the jerk limits being applied and causing - // a delay when restarting the vehicle. - - if (ego_is_stopped && !input_cmd_is_stopping) { - auto prev_cmd = filter_.getPrevCmd(); - prev_cmd.longitudinal.acceleration = - std::max(prev_cmd.longitudinal.acceleration, current_status_cmd.longitudinal.acceleration); - // consider reverse driving - prev_cmd.longitudinal.velocity = std::fabs(prev_cmd.longitudinal.velocity) > - std::fabs(current_status_cmd.longitudinal.velocity) - ? prev_cmd.longitudinal.velocity - : current_status_cmd.longitudinal.velocity; - filter_.setPrevCmd(prev_cmd); - } filter_.filterAll(dt, current_steer_, out, is_filter_activated); } From 98c8dd9a327514bd0f1e54f93b2486941884116c Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 22 Jul 2024 13:56:02 +0900 Subject: [PATCH 292/306] fix(bpp): fix approved request search (#8119) fix existApprovedRequest condition Signed-off-by: Go Sakayori --- .../interface/scene_module_interface.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index c4a05d171654d..09e1382799f01 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -340,7 +340,7 @@ class SceneModuleInterface } if (rtc.second->isTerminated(uuid_map_.at(rtc.first))) { - return true; + return false; } return rtc.second->isActivated(uuid_map_.at(rtc.first)); From b9267dbc6b83dc0d1b2755958df781929587075a Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Mon, 22 Jul 2024 13:57:32 +0900 Subject: [PATCH 293/306] refactor(lidar_transfusion)!: fix namespace and directory structure (#8022) * add prefix Signed-off-by: MasatoSaeki * add prefix in code owner Signed-off-by: MasatoSaeki * style(pre-commit): autofix * fix launcher Signed-off-by: MasatoSaeki --------- Signed-off-by: MasatoSaeki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Amadeusz Szymko Co-authored-by: Kenzo Lobos Tsunekawa --- .github/CODEOWNERS | 4 +-- .../detector/lidar_dnn_detector.launch.xml | 4 +-- .../CMakeLists.txt | 32 +++++++++---------- .../README.md | 16 +++++----- .../detection_class_remapper.param.yaml | 0 .../config/transfusion.param.yaml | 0 .../lidar_transfusion/cuda_utils.hpp | 6 ++-- .../detection_class_remapper.hpp | 10 +++--- .../lidar_transfusion_node.hpp | 20 ++++++------ .../lidar_transfusion/network/network_trt.hpp | 14 ++++---- .../postprocess/circle_nms_kernel.hpp | 12 +++---- .../postprocess/non_maximum_suppression.hpp | 12 +++---- .../postprocess/postprocess_kernel.hpp | 14 ++++---- .../preprocess/pointcloud_densification.hpp | 12 +++---- .../preprocess/preprocess_kernel.hpp | 16 +++++----- .../preprocess/voxel_generator.hpp | 20 ++++++------ .../autoware}/lidar_transfusion/ros_utils.hpp | 12 +++---- .../lidar_transfusion/transfusion_config.hpp | 10 +++--- .../lidar_transfusion/transfusion_trt.hpp | 28 ++++++++-------- .../autoware}/lidar_transfusion/utils.hpp | 10 +++--- .../lidar_transfusion/visibility_control.hpp | 6 ++-- .../launch/lidar_transfusion.launch.xml | 8 ++--- .../lib/detection_class_remapper.cpp | 6 ++-- .../lib/network/network_trt.cpp | 6 ++-- .../lib/postprocess/circle_nms_kernel.cu | 10 +++--- .../postprocess/non_maximum_suppression.cpp | 6 ++-- .../lib/postprocess/postprocess_kernel.cu | 8 ++--- .../preprocess/pointcloud_densification.cpp | 6 ++-- .../lib/preprocess/preprocess_kernel.cu | 8 ++--- .../lib/preprocess/voxel_generator.cpp | 8 ++--- .../lib/ros_utils.cpp | 6 ++-- .../lib/transfusion_trt.cpp | 10 +++--- .../package.xml | 2 +- .../detection_class_remapper.schema.json | 0 .../schema/transfusion.schema.json | 0 .../src/lidar_transfusion_node.cpp | 10 +++--- .../test/test_detection_class_remapper.cpp | 4 +-- .../test/test_nms.cpp | 13 ++++---- .../test/test_postprocess_kernel.cpp | 4 +-- .../test/test_postprocess_kernel.hpp | 8 ++--- .../test/test_preprocess_kernel.cpp | 8 ++--- .../test/test_preprocess_kernel.hpp | 8 ++--- .../test/test_ros_utils.cpp | 26 +++++++-------- .../test/test_voxel_generator.cpp | 8 ++--- .../test/test_voxel_generator.hpp | 6 ++-- 45 files changed, 219 insertions(+), 218 deletions(-) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/CMakeLists.txt (88%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/README.md (84%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/config/detection_class_remapper.param.yaml (100%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/config/transfusion.param.yaml (100%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/cuda_utils.hpp (96%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/detection_class_remapper.hpp (82%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/lidar_transfusion_node.hpp (78%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/network/network_trt.hpp (86%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/postprocess/circle_nms_kernel.hpp (72%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/postprocess/non_maximum_suppression.hpp (83%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/postprocess/postprocess_kernel.hpp (74%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/preprocess/pointcloud_densification.hpp (88%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/preprocess/preprocess_kernel.hpp (83%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/preprocess/voxel_generator.hpp (76%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/ros_utils.hpp (93%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/transfusion_config.hpp (95%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/transfusion_trt.hpp (80%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/utils.hpp (84%) rename perception/{lidar_transfusion/include => autoware_lidar_transfusion/include/autoware}/lidar_transfusion/visibility_control.hpp (89%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/launch/lidar_transfusion.launch.xml (79%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/detection_class_remapper.cpp (94%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/network/network_trt.cpp (98%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/postprocess/circle_nms_kernel.cu (94%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/postprocess/non_maximum_suppression.cpp (95%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/postprocess/postprocess_kernel.cu (95%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/preprocess/pointcloud_densification.cpp (95%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/preprocess/preprocess_kernel.cu (97%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/preprocess/voxel_generator.cpp (95%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/ros_utils.cpp (95%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/lib/transfusion_trt.cpp (96%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/package.xml (96%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/schema/detection_class_remapper.schema.json (100%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/schema/transfusion.schema.json (100%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/src/lidar_transfusion_node.cpp (96%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/test/test_detection_class_remapper.cpp (96%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/test/test_nms.cpp (92%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/test/test_postprocess_kernel.cpp (99%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/test/test_postprocess_kernel.hpp (85%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/test/test_preprocess_kernel.cpp (97%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/test/test_preprocess_kernel.hpp (87%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/test/test_ros_utils.cpp (79%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/test/test_voxel_generator.cpp (98%) rename perception/{lidar_transfusion => autoware_lidar_transfusion}/test/test_voxel_generator.hpp (92%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 5f7e43f74adba..30b5982d0dd25 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -105,7 +105,9 @@ map/map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp mas map/map_tf_generator/** 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 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_lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@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_multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@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 @@ -128,8 +130,6 @@ perception/lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.sait perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com yoshi.ri@tier4.jp perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi.ri@tier4.jp 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/autoware_multi_object_tracker/** 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/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml index 98e8ec7c8ed4b..f13edf5e52dff 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml @@ -17,10 +17,10 @@ - + - + diff --git a/perception/lidar_transfusion/CMakeLists.txt b/perception/autoware_lidar_transfusion/CMakeLists.txt similarity index 88% rename from perception/lidar_transfusion/CMakeLists.txt rename to perception/autoware_lidar_transfusion/CMakeLists.txt index 15c89beb15d3e..c3a56f883fbe5 100644 --- a/perception/lidar_transfusion/CMakeLists.txt +++ b/perception/autoware_lidar_transfusion/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(lidar_transfusion) +project(autoware_lidar_transfusion) find_package(autoware_cmake REQUIRED) autoware_package() @@ -82,7 +82,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) set(CUDA_NVCC_FLAGS "-g -G") endif() - ament_auto_add_library(transfusion_lib SHARED + ament_auto_add_library(${PROJECT_NAME}_lib SHARED lib/detection_class_remapper.cpp lib/network/network_trt.cpp lib/postprocess/non_maximum_suppression.cpp @@ -92,23 +92,23 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) lib/transfusion_trt.cpp ) - cuda_add_library(transfusion_cuda_lib SHARED + cuda_add_library(${PROJECT_NAME}_cuda_lib SHARED lib/postprocess/circle_nms_kernel.cu lib/postprocess/postprocess_kernel.cu lib/preprocess/preprocess_kernel.cu ) - target_link_libraries(transfusion_lib + target_link_libraries(${PROJECT_NAME}_lib ${NVINFER} ${NVONNXPARSER} ${CUDA_LIBRARIES} ${CUBLAS_LIBRARIES} ${CUDA_curand_LIBRARY} ${CUDNN_LIBRARY} - transfusion_cuda_lib + ${PROJECT_NAME}_cuda_lib ) - target_include_directories(transfusion_lib + target_include_directories(${PROJECT_NAME}_lib PUBLIC $ $ @@ -116,26 +116,26 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) # To suppress unknown-pragmas error. The root-cause is CUB library in CUDA 11.6. # This issue was fixed by https://github.com/NVIDIA/cub/commit/7d608bf1dc14553e2fb219eabeed80b76621b6fe - target_include_directories(transfusion_lib + target_include_directories(${PROJECT_NAME}_lib SYSTEM PUBLIC ${CUDA_INCLUDE_DIRS} ) - ament_auto_add_library(lidar_transfusion_component SHARED + ament_auto_add_library(${PROJECT_NAME}_component SHARED src/lidar_transfusion_node.cpp ) - target_link_libraries(lidar_transfusion_component - transfusion_lib + target_link_libraries(${PROJECT_NAME}_component + ${PROJECT_NAME}_lib ) - rclcpp_components_register_node(lidar_transfusion_component - PLUGIN "lidar_transfusion::LidarTransfusionNode" - EXECUTABLE lidar_transfusion_node + rclcpp_components_register_node(${PROJECT_NAME}_component + PLUGIN "autoware::lidar_transfusion::LidarTransfusionNode" + EXECUTABLE ${PROJECT_NAME}_node ) install( - TARGETS transfusion_cuda_lib + TARGETS ${PROJECT_NAME}_cuda_lib DESTINATION lib ) @@ -168,7 +168,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) # ${test_preprocess_kernel_SOURCE_DIR} # ) # target_link_libraries(test_preprocess_kernel - # transfusion_cuda_lib + # ${PROJECT_NAME}_cuda_lib # gtest # gtest_main # ) @@ -185,7 +185,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) # ${test_postprocess_kernel_SOURCE_DIR} # ) # target_link_libraries(test_postprocess_kernel - # transfusion_cuda_lib + # ${PROJECT_NAME}_cuda_lib # gtest # gtest_main # ) diff --git a/perception/lidar_transfusion/README.md b/perception/autoware_lidar_transfusion/README.md similarity index 84% rename from perception/lidar_transfusion/README.md rename to perception/autoware_lidar_transfusion/README.md index 6745cc1f7d219..4a55babbcba9f 100644 --- a/perception/lidar_transfusion/README.md +++ b/perception/autoware_lidar_transfusion/README.md @@ -1,8 +1,8 @@ -# lidar_transfusion +# autoware_lidar_transfusion ## Purpose -The `lidar_transfusion` package is used for 3D object detection based on lidar data (x, y, z, intensity). +The `autoware_lidar_transfusion` package is used for 3D object detection based on lidar data (x, y, z, intensity). ## Inner-workings / Algorithms @@ -34,27 +34,27 @@ We trained the models using . ### TransFusion -{{ json_to_markdown("perception/lidar_transfusion/schema/transfusion.schema.json") }} +{{ json_to_markdown("perception/autoware_lidar_transfusion/schema/transfusion.schema.json") }} ### Detection class remapper -{{ json_to_markdown("perception/lidar_transfusion/schema/detection_class_remapper.schema.json") }} +{{ json_to_markdown("perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json") }} ### The `build_only` option -The `lidar_transfusion` node has `build_only` option to build the TensorRT engine file from the ONNX file. +The `autoware_lidar_transfusion` node has `build_only` option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command: ```bash -ros2 launch lidar_transfusion lidar_transfusion.launch.xml build_only:=true +ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true ``` ### The `log_level` option -The default logging severity level for `lidar_transfusion` is `info`. For debugging purposes, the developer may decrease severity level using `log_level` parameter: +The default logging severity level for `autoware_lidar_transfusion` is `info`. For debugging purposes, the developer may decrease severity level using `log_level` parameter: ```bash -ros2 launch lidar_transfusion lidar_transfusion.launch.xml log_level:=debug +ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug ``` ## Assumptions / Known limits diff --git a/perception/lidar_transfusion/config/detection_class_remapper.param.yaml b/perception/autoware_lidar_transfusion/config/detection_class_remapper.param.yaml similarity index 100% rename from perception/lidar_transfusion/config/detection_class_remapper.param.yaml rename to perception/autoware_lidar_transfusion/config/detection_class_remapper.param.yaml diff --git a/perception/lidar_transfusion/config/transfusion.param.yaml b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml similarity index 100% rename from perception/lidar_transfusion/config/transfusion.param.yaml rename to perception/autoware_lidar_transfusion/config/transfusion.param.yaml diff --git a/perception/lidar_transfusion/include/lidar_transfusion/cuda_utils.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/cuda_utils.hpp similarity index 96% rename from perception/lidar_transfusion/include/lidar_transfusion/cuda_utils.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/cuda_utils.hpp index 5c25a936d5392..17a7c7ee9c165 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/cuda_utils.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/cuda_utils.hpp @@ -39,8 +39,8 @@ * https://creativecommons.org/publicdomain/zero/1.0/deed.en */ -#ifndef LIDAR_TRANSFUSION__CUDA_UTILS_HPP_ -#define LIDAR_TRANSFUSION__CUDA_UTILS_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__CUDA_UTILS_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__CUDA_UTILS_HPP_ #include @@ -123,4 +123,4 @@ void clear_async(T * ptr, size_t num_elem, cudaStream_t stream) } // namespace cuda -#endif // LIDAR_TRANSFUSION__CUDA_UTILS_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__CUDA_UTILS_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/detection_class_remapper.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/detection_class_remapper.hpp similarity index 82% rename from perception/lidar_transfusion/include/lidar_transfusion/detection_class_remapper.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/detection_class_remapper.hpp index ace7dc5ff3405..6095472affe92 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/detection_class_remapper.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/detection_class_remapper.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__DETECTION_CLASS_REMAPPER_HPP_ -#define LIDAR_TRANSFUSION__DETECTION_CLASS_REMAPPER_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__DETECTION_CLASS_REMAPPER_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__DETECTION_CLASS_REMAPPER_HPP_ #include @@ -24,7 +24,7 @@ #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class DetectionClassRemapper @@ -42,6 +42,6 @@ class DetectionClassRemapper int num_labels_; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__DETECTION_CLASS_REMAPPER_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__DETECTION_CLASS_REMAPPER_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/lidar_transfusion_node.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/lidar_transfusion_node.hpp similarity index 78% rename from perception/lidar_transfusion/include/lidar_transfusion/lidar_transfusion_node.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/lidar_transfusion_node.hpp index a82013fac6ce7..e19d2d49af998 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/lidar_transfusion_node.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/lidar_transfusion_node.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__LIDAR_TRANSFUSION_NODE_HPP_ -#define LIDAR_TRANSFUSION__LIDAR_TRANSFUSION_NODE_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__LIDAR_TRANSFUSION_NODE_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__LIDAR_TRANSFUSION_NODE_HPP_ -#include "lidar_transfusion/detection_class_remapper.hpp" -#include "lidar_transfusion/postprocess/non_maximum_suppression.hpp" -#include "lidar_transfusion/preprocess/pointcloud_densification.hpp" -#include "lidar_transfusion/transfusion_trt.hpp" -#include "lidar_transfusion/visibility_control.hpp" +#include "autoware/lidar_transfusion/detection_class_remapper.hpp" +#include "autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp" +#include "autoware/lidar_transfusion/preprocess/pointcloud_densification.hpp" +#include "autoware/lidar_transfusion/transfusion_trt.hpp" +#include "autoware/lidar_transfusion/visibility_control.hpp" #include #include @@ -36,7 +36,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class LIDAR_TRANSFUSION_PUBLIC LidarTransfusionNode : public rclcpp::Node @@ -68,6 +68,6 @@ class LIDAR_TRANSFUSION_PUBLIC LidarTransfusionNode : public rclcpp::Node std::unique_ptr debug_publisher_ptr_{nullptr}; std::unique_ptr published_time_pub_{nullptr}; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__LIDAR_TRANSFUSION_NODE_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__LIDAR_TRANSFUSION_NODE_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/network/network_trt.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp similarity index 86% rename from perception/lidar_transfusion/include/lidar_transfusion/network/network_trt.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp index 3f8f32e346b0a..d237361a436e2 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/network/network_trt.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__NETWORK__NETWORK_TRT_HPP_ -#define LIDAR_TRANSFUSION__NETWORK__NETWORK_TRT_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__NETWORK__NETWORK_TRT_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__NETWORK__NETWORK_TRT_HPP_ -#include "lidar_transfusion/transfusion_config.hpp" -#include "lidar_transfusion/utils.hpp" +#include "autoware/lidar_transfusion/transfusion_config.hpp" +#include "autoware/lidar_transfusion/utils.hpp" #include @@ -29,7 +29,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { struct ProfileDimension @@ -82,6 +82,6 @@ class NetworkTRT std::array in_profile_dims_; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__NETWORK__NETWORK_TRT_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__NETWORK__NETWORK_TRT_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/postprocess/circle_nms_kernel.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/circle_nms_kernel.hpp similarity index 72% rename from perception/lidar_transfusion/include/lidar_transfusion/postprocess/circle_nms_kernel.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/circle_nms_kernel.hpp index e231482652b98..653bc281c7086 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/postprocess/circle_nms_kernel.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/circle_nms_kernel.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ -#define LIDAR_TRANSFUSION__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ -#include "lidar_transfusion/utils.hpp" +#include "autoware/lidar_transfusion/utils.hpp" #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { // Non-maximum suppression (NMS) uses the distance on the xy plane instead of // intersection over union (IoU) to suppress overlapped objects. @@ -27,6 +27,6 @@ std::size_t circleNMS( thrust::device_vector & boxes3d, const float distance_threshold, thrust::device_vector & keep_mask, cudaStream_t stream); -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/postprocess/non_maximum_suppression.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp similarity index 83% rename from perception/lidar_transfusion/include/lidar_transfusion/postprocess/non_maximum_suppression.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp index daf2cc7c1fac1..9f07d2448fcae 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/postprocess/non_maximum_suppression.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ -#define LIDAR_TRANSFUSION__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ -#include "lidar_transfusion/ros_utils.hpp" +#include "autoware/lidar_transfusion/ros_utils.hpp" #include @@ -24,7 +24,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { using autoware_perception_msgs::msg::DetectedObject; @@ -75,6 +75,6 @@ class NonMaximumSuppression std::vector target_class_mask_{}; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/postprocess/postprocess_kernel.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/postprocess_kernel.hpp similarity index 74% rename from perception/lidar_transfusion/include/lidar_transfusion/postprocess/postprocess_kernel.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/postprocess_kernel.hpp index 01435424aa248..ed677bc84b867 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/postprocess/postprocess_kernel.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/postprocess_kernel.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ -#define LIDAR_TRANSFUSION__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ -#include "lidar_transfusion/transfusion_config.hpp" -#include "lidar_transfusion/utils.hpp" +#include "autoware/lidar_transfusion/transfusion_config.hpp" +#include "autoware/lidar_transfusion/utils.hpp" #include #include @@ -24,7 +24,7 @@ #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class PostprocessCuda @@ -45,6 +45,6 @@ class PostprocessCuda thrust::device_vector yaw_norm_thresholds_d_; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/pointcloud_densification.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/pointcloud_densification.hpp similarity index 88% rename from perception/lidar_transfusion/include/lidar_transfusion/preprocess/pointcloud_densification.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/pointcloud_densification.hpp index 6ac0a6544389f..2d03978497f72 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/pointcloud_densification.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/pointcloud_densification.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ -#define LIDAR_TRANSFUSION__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ -#include "lidar_transfusion/cuda_utils.hpp" +#include "autoware/lidar_transfusion/cuda_utils.hpp" #include #include @@ -29,7 +29,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class DensificationParam @@ -96,6 +96,6 @@ class PointCloudDensification cudaStream_t stream_; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/preprocess_kernel.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/preprocess_kernel.hpp similarity index 83% rename from perception/lidar_transfusion/include/lidar_transfusion/preprocess/preprocess_kernel.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/preprocess_kernel.hpp index 592f09c2d288a..1f5fe3ae3907f 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/preprocess_kernel.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/preprocess_kernel.hpp @@ -28,16 +28,16 @@ * limitations under the License. */ -#ifndef LIDAR_TRANSFUSION__PREPROCESS__PREPROCESS_KERNEL_HPP_ -#define LIDAR_TRANSFUSION__PREPROCESS__PREPROCESS_KERNEL_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__PREPROCESS__PREPROCESS_KERNEL_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__PREPROCESS__PREPROCESS_KERNEL_HPP_ -#include "lidar_transfusion/cuda_utils.hpp" -#include "lidar_transfusion/transfusion_config.hpp" -#include "lidar_transfusion/utils.hpp" +#include "autoware/lidar_transfusion/cuda_utils.hpp" +#include "autoware/lidar_transfusion/transfusion_config.hpp" +#include "autoware/lidar_transfusion/utils.hpp" #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class PreprocessCuda @@ -68,6 +68,6 @@ class PreprocessCuda unsigned int mask_size_; unsigned int voxels_size_; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__PREPROCESS__PREPROCESS_KERNEL_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__PREPROCESS__PREPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/voxel_generator.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp similarity index 76% rename from perception/lidar_transfusion/include/lidar_transfusion/preprocess/voxel_generator.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp index f0d253ee28755..19bd8c14787de 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/preprocess/voxel_generator.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__PREPROCESS__VOXEL_GENERATOR_HPP_ -#define LIDAR_TRANSFUSION__PREPROCESS__VOXEL_GENERATOR_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__PREPROCESS__VOXEL_GENERATOR_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__PREPROCESS__VOXEL_GENERATOR_HPP_ -#include "lidar_transfusion/cuda_utils.hpp" -#include "lidar_transfusion/preprocess/pointcloud_densification.hpp" -#include "lidar_transfusion/preprocess/preprocess_kernel.hpp" -#include "lidar_transfusion/ros_utils.hpp" -#include "lidar_transfusion/transfusion_config.hpp" +#include "autoware/lidar_transfusion/cuda_utils.hpp" +#include "autoware/lidar_transfusion/preprocess/pointcloud_densification.hpp" +#include "autoware/lidar_transfusion/preprocess/preprocess_kernel.hpp" +#include "autoware/lidar_transfusion/ros_utils.hpp" +#include "autoware/lidar_transfusion/transfusion_config.hpp" #ifdef ROS_DISTRO_GALACTIC #include @@ -36,7 +36,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { constexpr size_t AFF_MAT_SIZE = 16; // 4x4 matrix constexpr size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware_point_types::PointXYZIRCAEDT); @@ -67,6 +67,6 @@ class VoxelGenerator bool is_initialized_{false}; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__PREPROCESS__VOXEL_GENERATOR_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__PREPROCESS__VOXEL_GENERATOR_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/ros_utils.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp similarity index 93% rename from perception/lidar_transfusion/include/lidar_transfusion/ros_utils.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp index cbfc4e87b1610..37b364ecf8a9d 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/ros_utils.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__ROS_UTILS_HPP_ -#define LIDAR_TRANSFUSION__ROS_UTILS_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__ROS_UTILS_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__ROS_UTILS_HPP_ -#include "lidar_transfusion/utils.hpp" +#include "autoware/lidar_transfusion/utils.hpp" #include @@ -41,7 +41,7 @@ CHECK_OFFSET(offset, structure, field); \ CHECK_TYPE(type, structure, field) -namespace lidar_transfusion +namespace autoware::lidar_transfusion { using sensor_msgs::msg::PointField; @@ -102,6 +102,6 @@ void box3DToDetectedObject( uint8_t getSemanticType(const std::string & class_name); -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__ROS_UTILS_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__ROS_UTILS_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/transfusion_config.hpp similarity index 95% rename from perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/transfusion_config.hpp index 0d0148d2f6c17..363ee17a0d6e0 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/transfusion_config.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__TRANSFUSION_CONFIG_HPP_ -#define LIDAR_TRANSFUSION__TRANSFUSION_CONFIG_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__TRANSFUSION_CONFIG_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__TRANSFUSION_CONFIG_HPP_ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class TransfusionConfig @@ -165,6 +165,6 @@ class TransfusionConfig std::size_t max_coors_dim_size_{num_point_values_}; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__TRANSFUSION_CONFIG_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__TRANSFUSION_CONFIG_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_trt.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/transfusion_trt.hpp similarity index 80% rename from perception/lidar_transfusion/include/lidar_transfusion/transfusion_trt.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/transfusion_trt.hpp index 0a9ea413dc30d..4ba3474fc1d72 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_trt.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/transfusion_trt.hpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__TRANSFUSION_TRT_HPP_ -#define LIDAR_TRANSFUSION__TRANSFUSION_TRT_HPP_ - -#include "lidar_transfusion/cuda_utils.hpp" -#include "lidar_transfusion/network/network_trt.hpp" -#include "lidar_transfusion/postprocess/postprocess_kernel.hpp" -#include "lidar_transfusion/preprocess/pointcloud_densification.hpp" -#include "lidar_transfusion/preprocess/preprocess_kernel.hpp" -#include "lidar_transfusion/preprocess/voxel_generator.hpp" -#include "lidar_transfusion/utils.hpp" -#include "lidar_transfusion/visibility_control.hpp" +#ifndef AUTOWARE__LIDAR_TRANSFUSION__TRANSFUSION_TRT_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__TRANSFUSION_TRT_HPP_ + +#include "autoware/lidar_transfusion/cuda_utils.hpp" +#include "autoware/lidar_transfusion/network/network_trt.hpp" +#include "autoware/lidar_transfusion/postprocess/postprocess_kernel.hpp" +#include "autoware/lidar_transfusion/preprocess/pointcloud_densification.hpp" +#include "autoware/lidar_transfusion/preprocess/preprocess_kernel.hpp" +#include "autoware/lidar_transfusion/preprocess/voxel_generator.hpp" +#include "autoware/lidar_transfusion/utils.hpp" +#include "autoware/lidar_transfusion/visibility_control.hpp" #include @@ -37,7 +37,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class NetworkParam @@ -109,6 +109,6 @@ class LIDAR_TRANSFUSION_PUBLIC TransfusionTRT cuda::unique_ptr dir_cls_output_d_{nullptr}; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__TRANSFUSION_TRT_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__TRANSFUSION_TRT_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/utils.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/utils.hpp similarity index 84% rename from perception/lidar_transfusion/include/lidar_transfusion/utils.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/utils.hpp index cc40e55851738..feea2216c5f78 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/utils.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/utils.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__UTILS_HPP_ -#define LIDAR_TRANSFUSION__UTILS_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__UTILS_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__UTILS_HPP_ #include #include #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { struct Box3D @@ -52,6 +52,6 @@ unsigned int divup(const T1 a, const T2 b) return (a + b - 1) / b; } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion -#endif // LIDAR_TRANSFUSION__UTILS_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__UTILS_HPP_ diff --git a/perception/lidar_transfusion/include/lidar_transfusion/visibility_control.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/visibility_control.hpp similarity index 89% rename from perception/lidar_transfusion/include/lidar_transfusion/visibility_control.hpp rename to perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/visibility_control.hpp index aeab20906628a..fe8bea1ae1403 100644 --- a/perception/lidar_transfusion/include/lidar_transfusion/visibility_control.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/visibility_control.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_TRANSFUSION__VISIBILITY_CONTROL_HPP_ -#define LIDAR_TRANSFUSION__VISIBILITY_CONTROL_HPP_ +#ifndef AUTOWARE__LIDAR_TRANSFUSION__VISIBILITY_CONTROL_HPP_ +#define AUTOWARE__LIDAR_TRANSFUSION__VISIBILITY_CONTROL_HPP_ //////////////////////////////////////////////////////////////////////////////// #if defined(__WIN32) @@ -34,4 +34,4 @@ #error "Unsupported Build Configuration" #endif -#endif // LIDAR_TRANSFUSION__VISIBILITY_CONTROL_HPP_ +#endif // AUTOWARE__LIDAR_TRANSFUSION__VISIBILITY_CONTROL_HPP_ diff --git a/perception/lidar_transfusion/launch/lidar_transfusion.launch.xml b/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml similarity index 79% rename from perception/lidar_transfusion/launch/lidar_transfusion.launch.xml rename to perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml index 492eb8c4d59b7..c14802dcddc55 100644 --- a/perception/lidar_transfusion/launch/lidar_transfusion.launch.xml +++ b/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml @@ -4,8 +4,8 @@ - - + + @@ -14,7 +14,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/perception/lidar_transfusion/lib/detection_class_remapper.cpp b/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp similarity index 94% rename from perception/lidar_transfusion/lib/detection_class_remapper.cpp rename to perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp index e093637402448..08bdc65e666de 100644 --- a/perception/lidar_transfusion/lib/detection_class_remapper.cpp +++ b/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { void DetectionClassRemapper::setParameters( @@ -68,4 +68,4 @@ void DetectionClassRemapper::mapClasses(autoware_perception_msgs::msg::DetectedO } } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/lib/network/network_trt.cpp b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp similarity index 98% rename from perception/lidar_transfusion/lib/network/network_trt.cpp rename to perception/autoware_lidar_transfusion/lib/network/network_trt.cpp index a36890facceec..3eacf005cff4e 100644 --- a/perception/lidar_transfusion/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/network/network_trt.hpp" +#include "autoware/lidar_transfusion/network/network_trt.hpp" #include @@ -20,7 +20,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { std::ostream & operator<<(std::ostream & os, const ProfileDimension & profile) @@ -329,4 +329,4 @@ nvinfer1::Dims NetworkTRT::validateTensorShape(NetworkIO name, const std::vector return tensor_shape; } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/lib/postprocess/circle_nms_kernel.cu b/perception/autoware_lidar_transfusion/lib/postprocess/circle_nms_kernel.cu similarity index 94% rename from perception/lidar_transfusion/lib/postprocess/circle_nms_kernel.cu rename to perception/autoware_lidar_transfusion/lib/postprocess/circle_nms_kernel.cu index dcb60831825bb..2328ca53af530 100644 --- a/perception/lidar_transfusion/lib/postprocess/circle_nms_kernel.cu +++ b/perception/autoware_lidar_transfusion/lib/postprocess/circle_nms_kernel.cu @@ -21,9 +21,9 @@ Written by Shaoshuai Shi All Rights Reserved 2019-2020. */ -#include "lidar_transfusion/cuda_utils.hpp" -#include "lidar_transfusion/postprocess/circle_nms_kernel.hpp" -#include "lidar_transfusion/utils.hpp" +#include "autoware/lidar_transfusion/cuda_utils.hpp" +#include "autoware/lidar_transfusion/postprocess/circle_nms_kernel.hpp" +#include "autoware/lidar_transfusion/utils.hpp" #include @@ -32,7 +32,7 @@ namespace const std::size_t THREADS_PER_BLOCK_NMS = 16; } // namespace -namespace lidar_transfusion +namespace autoware::lidar_transfusion { __device__ inline float dist2dPow(const Box3D * a, const Box3D * b) @@ -141,4 +141,4 @@ std::size_t circleNMS( return num_to_keep; } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp similarity index 95% rename from perception/lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp rename to perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp index dd12c52970d38..6e563f706e3b2 100644 --- a/perception/lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/postprocess/non_maximum_suppression.hpp" +#include "autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp" #include #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { void NonMaximumSuppression::setParameters(const NMSParams & params) @@ -101,4 +101,4 @@ std::vector NonMaximumSuppression::apply( return output_objects; } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/lib/postprocess/postprocess_kernel.cu b/perception/autoware_lidar_transfusion/lib/postprocess/postprocess_kernel.cu similarity index 95% rename from perception/lidar_transfusion/lib/postprocess/postprocess_kernel.cu rename to perception/autoware_lidar_transfusion/lib/postprocess/postprocess_kernel.cu index bca23e9961b40..fbdb89d59b3d1 100644 --- a/perception/lidar_transfusion/lib/postprocess/postprocess_kernel.cu +++ b/perception/autoware_lidar_transfusion/lib/postprocess/postprocess_kernel.cu @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/postprocess/circle_nms_kernel.hpp" -#include "lidar_transfusion/postprocess/postprocess_kernel.hpp" +#include "autoware/lidar_transfusion/postprocess/circle_nms_kernel.hpp" +#include "autoware/lidar_transfusion/postprocess/postprocess_kernel.hpp" #include #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { const size_t THREADS_PER_BLOCK = 256; @@ -142,4 +142,4 @@ cudaError_t PostprocessCuda::generateDetectedBoxes3D_launch( return cudaGetLastError(); } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/lib/preprocess/pointcloud_densification.cpp b/perception/autoware_lidar_transfusion/lib/preprocess/pointcloud_densification.cpp similarity index 95% rename from perception/lidar_transfusion/lib/preprocess/pointcloud_densification.cpp rename to perception/autoware_lidar_transfusion/lib/preprocess/pointcloud_densification.cpp index c13423f2d24d8..17491ede058b4 100644 --- a/perception/lidar_transfusion/lib/preprocess/pointcloud_densification.cpp +++ b/perception/autoware_lidar_transfusion/lib/preprocess/pointcloud_densification.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/preprocess/pointcloud_densification.hpp" +#include "autoware/lidar_transfusion/preprocess/pointcloud_densification.hpp" #include @@ -55,7 +55,7 @@ Eigen::Affine3f transformToEigen(const geometry_msgs::msg::Transform & t) } // namespace -namespace lidar_transfusion +namespace autoware::lidar_transfusion { PointCloudDensification::PointCloudDensification( @@ -113,4 +113,4 @@ void PointCloudDensification::dequeue() } } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/lib/preprocess/preprocess_kernel.cu b/perception/autoware_lidar_transfusion/lib/preprocess/preprocess_kernel.cu similarity index 97% rename from perception/lidar_transfusion/lib/preprocess/preprocess_kernel.cu rename to perception/autoware_lidar_transfusion/lib/preprocess/preprocess_kernel.cu index 48bb4eb9332a8..1b18b3dbcc006 100644 --- a/perception/lidar_transfusion/lib/preprocess/preprocess_kernel.cu +++ b/perception/autoware_lidar_transfusion/lib/preprocess/preprocess_kernel.cu @@ -28,12 +28,12 @@ * limitations under the License. */ -#include "lidar_transfusion/cuda_utils.hpp" -#include "lidar_transfusion/preprocess/preprocess_kernel.hpp" +#include "autoware/lidar_transfusion/cuda_utils.hpp" +#include "autoware/lidar_transfusion/preprocess/preprocess_kernel.hpp" #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { PreprocessCuda::PreprocessCuda(const TransfusionConfig & config, cudaStream_t & stream) @@ -218,4 +218,4 @@ cudaError_t PreprocessCuda::generateSweepPoints_launch( return err; } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/lib/preprocess/voxel_generator.cpp b/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp similarity index 95% rename from perception/lidar_transfusion/lib/preprocess/voxel_generator.cpp rename to perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp index cb8bac984aef3..203a556d9057a 100644 --- a/perception/lidar_transfusion/lib/preprocess/voxel_generator.cpp +++ b/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/preprocess/voxel_generator.hpp" +#include "autoware/lidar_transfusion/preprocess/voxel_generator.hpp" -#include "lidar_transfusion/preprocess/preprocess_kernel.hpp" +#include "autoware/lidar_transfusion/preprocess/preprocess_kernel.hpp" #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { VoxelGenerator::VoxelGenerator( @@ -120,4 +120,4 @@ std::tuple VoxelGenerator::getFiel } throw std::runtime_error("Missing field: " + field_name); } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/lib/ros_utils.cpp b/perception/autoware_lidar_transfusion/lib/ros_utils.cpp similarity index 95% rename from perception/lidar_transfusion/lib/ros_utils.cpp rename to perception/autoware_lidar_transfusion/lib/ros_utils.cpp index ef5c45c339b64..dce4028759de5 100644 --- a/perception/lidar_transfusion/lib/ros_utils.cpp +++ b/perception/autoware_lidar_transfusion/lib/ros_utils.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/ros_utils.hpp" +#include "autoware/lidar_transfusion/ros_utils.hpp" #include #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { using Label = autoware_perception_msgs::msg::ObjectClassification; @@ -80,4 +80,4 @@ uint8_t getSemanticType(const std::string & class_name) } } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/lib/transfusion_trt.cpp b/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp similarity index 96% rename from perception/lidar_transfusion/lib/transfusion_trt.cpp rename to perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp index d940b83c12cb4..94760d4d91720 100644 --- a/perception/lidar_transfusion/lib/transfusion_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/transfusion_trt.hpp" +#include "autoware/lidar_transfusion/transfusion_trt.hpp" -#include "lidar_transfusion/preprocess/preprocess_kernel.hpp" -#include "lidar_transfusion/transfusion_config.hpp" +#include "autoware/lidar_transfusion/preprocess/preprocess_kernel.hpp" +#include "autoware/lidar_transfusion/transfusion_config.hpp" #include @@ -24,7 +24,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { TransfusionTRT::TransfusionTRT( @@ -203,4 +203,4 @@ bool TransfusionTRT::postprocess(std::vector & det_boxes3d) return true; } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion diff --git a/perception/lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml similarity index 96% rename from perception/lidar_transfusion/package.xml rename to perception/autoware_lidar_transfusion/package.xml index 3b495025b1c34..834afba1221ad 100644 --- a/perception/lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -1,7 +1,7 @@ - lidar_transfusion + autoware_lidar_transfusion 1.0.0 The lidar_transfusion package Amadeusz Szymko diff --git a/perception/lidar_transfusion/schema/detection_class_remapper.schema.json b/perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json similarity index 100% rename from perception/lidar_transfusion/schema/detection_class_remapper.schema.json rename to perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json diff --git a/perception/lidar_transfusion/schema/transfusion.schema.json b/perception/autoware_lidar_transfusion/schema/transfusion.schema.json similarity index 100% rename from perception/lidar_transfusion/schema/transfusion.schema.json rename to perception/autoware_lidar_transfusion/schema/transfusion.schema.json diff --git a/perception/lidar_transfusion/src/lidar_transfusion_node.cpp b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp similarity index 96% rename from perception/lidar_transfusion/src/lidar_transfusion_node.cpp rename to perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp index a07e385208748..fae1cc97404da 100644 --- a/perception/lidar_transfusion/src/lidar_transfusion_node.cpp +++ b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/lidar_transfusion_node.hpp" +#include "autoware/lidar_transfusion/lidar_transfusion_node.hpp" -#include "lidar_transfusion/utils.hpp" +#include "autoware/lidar_transfusion/utils.hpp" -namespace lidar_transfusion +namespace autoware::lidar_transfusion { LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options) @@ -175,8 +175,8 @@ void LidarTransfusionNode::cloudCallback(const sensor_msgs::msg::PointCloud2::Co } } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(lidar_transfusion::LidarTransfusionNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lidar_transfusion::LidarTransfusionNode) diff --git a/perception/lidar_transfusion/test/test_detection_class_remapper.cpp b/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp similarity index 96% rename from perception/lidar_transfusion/test/test_detection_class_remapper.cpp rename to perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp index 6e7f896e44d2c..a9b5c8e83fbf7 100644 --- a/perception/lidar_transfusion/test/test_detection_class_remapper.cpp +++ b/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include TEST(DetectionClassRemapperTest, MapClasses) { - lidar_transfusion::DetectionClassRemapper remapper; + autoware::lidar_transfusion::DetectionClassRemapper remapper; // Set up the parameters for the remapper // Labels: CAR, TRUCK, TRAILER diff --git a/perception/lidar_transfusion/test/test_nms.cpp b/perception/autoware_lidar_transfusion/test/test_nms.cpp similarity index 92% rename from perception/lidar_transfusion/test/test_nms.cpp rename to perception/autoware_lidar_transfusion/test/test_nms.cpp index b6f0ec8c31684..654cb56078c57 100644 --- a/perception/lidar_transfusion/test/test_nms.cpp +++ b/perception/autoware_lidar_transfusion/test/test_nms.cpp @@ -12,21 +12,21 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/postprocess/non_maximum_suppression.hpp" +#include "autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp" #include TEST(NonMaximumSuppressionTest, Apply) { - lidar_transfusion::NonMaximumSuppression nms; - lidar_transfusion::NMSParams params; + autoware::lidar_transfusion::NonMaximumSuppression nms; + autoware::lidar_transfusion::NMSParams params; params.search_distance_2d_ = 1.0; params.iou_threshold_ = 0.2; - params.nms_type_ = lidar_transfusion::NMS_TYPE::IoU_BEV; + params.nms_type_ = autoware::lidar_transfusion::NMS_TYPE::IoU_BEV; params.target_class_names_ = {"CAR"}; nms.setParameters(params); - std::vector input_objects(4); + std::vector input_objects(4); // Object 1 autoware_perception_msgs::msg::ObjectClassification obj1_classification; @@ -88,7 +88,8 @@ TEST(NonMaximumSuppressionTest, Apply) input_objects[3].shape.dimensions.x = 0.5; input_objects[3].shape.dimensions.y = 0.5; - std::vector output_objects = nms.apply(input_objects); + std::vector output_objects = + nms.apply(input_objects); // Assert the expected number of output objects EXPECT_EQ(output_objects.size(), 3); diff --git a/perception/lidar_transfusion/test/test_postprocess_kernel.cpp b/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp similarity index 99% rename from perception/lidar_transfusion/test/test_postprocess_kernel.cpp rename to perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp index 1e01db5a8b3d7..85c408b93f4ca 100644 --- a/perception/lidar_transfusion/test/test_postprocess_kernel.cpp +++ b/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp @@ -19,7 +19,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { void PostprocessKernelTest::SetUp() @@ -290,7 +290,7 @@ TEST_F(PostprocessKernelTest, CircleNMSTest) EXPECT_EQ(1, det_boxes3d.size()); } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion int main(int argc, char ** argv) { diff --git a/perception/lidar_transfusion/test/test_postprocess_kernel.hpp b/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.hpp similarity index 85% rename from perception/lidar_transfusion/test/test_postprocess_kernel.hpp rename to perception/autoware_lidar_transfusion/test/test_postprocess_kernel.hpp index 60fa7882ecc11..104f42ad9e75d 100644 --- a/perception/lidar_transfusion/test/test_postprocess_kernel.hpp +++ b/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.hpp @@ -15,14 +15,14 @@ #ifndef TEST_POSTPROCESS_KERNEL_HPP_ #define TEST_POSTPROCESS_KERNEL_HPP_ -#include -#include +#include +#include #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class PostprocessKernelTest : public testing::Test @@ -43,6 +43,6 @@ class PostprocessKernelTest : public testing::Test cuda::unique_ptr dir_cls_output_d_{nullptr}; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion #endif // TEST_POSTPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_transfusion/test/test_preprocess_kernel.cpp b/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp similarity index 97% rename from perception/lidar_transfusion/test/test_preprocess_kernel.cpp rename to perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp index c1c2a824f0f53..1dbbf27d4a127 100644 --- a/perception/lidar_transfusion/test/test_preprocess_kernel.cpp +++ b/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp @@ -14,9 +14,9 @@ #include "test_preprocess_kernel.hpp" -#include "lidar_transfusion/cuda_utils.hpp" +#include "autoware/lidar_transfusion/cuda_utils.hpp" -#include +#include #include #include @@ -25,7 +25,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { void PreprocessKernelTest::SetUp() @@ -256,7 +256,7 @@ TEST_F(PreprocessKernelTest, VoxelOverflowTest) EXPECT_EQ(config_ptr_->max_voxels_, params_input); } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion int main(int argc, char ** argv) { diff --git a/perception/lidar_transfusion/test/test_preprocess_kernel.hpp b/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.hpp similarity index 87% rename from perception/lidar_transfusion/test/test_preprocess_kernel.hpp rename to perception/autoware_lidar_transfusion/test/test_preprocess_kernel.hpp index 024fae5eae4b1..260e4261c3c42 100644 --- a/perception/lidar_transfusion/test/test_preprocess_kernel.hpp +++ b/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.hpp @@ -15,14 +15,14 @@ #ifndef TEST_PREPROCESS_KERNEL_HPP_ #define TEST_PREPROCESS_KERNEL_HPP_ -#include -#include +#include +#include #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class PreprocessKernelTest : public testing::Test @@ -45,6 +45,6 @@ class PreprocessKernelTest : public testing::Test cuda::unique_ptr voxel_idxs_d_{nullptr}; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion #endif // TEST_PREPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_transfusion/test/test_ros_utils.cpp b/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp similarity index 79% rename from perception/lidar_transfusion/test/test_ros_utils.cpp rename to perception/autoware_lidar_transfusion/test/test_ros_utils.cpp index 15541e6353b42..ac9c4ca0378cb 100644 --- a/perception/lidar_transfusion/test/test_ros_utils.cpp +++ b/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_transfusion/ros_utils.hpp" +#include "autoware/lidar_transfusion/ros_utils.hpp" #include @@ -23,7 +23,7 @@ TEST(TestSuite, box3DToDetectedObject) // Test case 1: Test with valid label { - lidar_transfusion::Box3D box3d; + autoware::lidar_transfusion::Box3D box3d; box3d.label = 0; // CAR box3d.score = 0.8f; box3d.x = 1.0; @@ -35,7 +35,7 @@ TEST(TestSuite, box3DToDetectedObject) box3d.yaw = 0.5; autoware_perception_msgs::msg::DetectedObject obj; - lidar_transfusion::box3DToDetectedObject(box3d, class_names, obj); + autoware::lidar_transfusion::box3DToDetectedObject(box3d, class_names, obj); EXPECT_FLOAT_EQ(obj.existence_probability, 0.8f); EXPECT_EQ( @@ -53,12 +53,12 @@ TEST(TestSuite, box3DToDetectedObject) // Test case 2: Test with invalid label { - lidar_transfusion::Box3D box3d; + autoware::lidar_transfusion::Box3D box3d; box3d.score = 0.5f; box3d.label = 10; // Invalid autoware_perception_msgs::msg::DetectedObject obj; - lidar_transfusion::box3DToDetectedObject(box3d, class_names, obj); + autoware::lidar_transfusion::box3DToDetectedObject(box3d, class_names, obj); EXPECT_FLOAT_EQ(obj.existence_probability, 0.5f); EXPECT_EQ( @@ -72,28 +72,28 @@ TEST(TestSuite, box3DToDetectedObject) TEST(TestSuite, getSemanticType) { EXPECT_EQ( - lidar_transfusion::getSemanticType("CAR"), + autoware::lidar_transfusion::getSemanticType("CAR"), autoware_perception_msgs::msg::ObjectClassification::CAR); EXPECT_EQ( - lidar_transfusion::getSemanticType("TRUCK"), + autoware::lidar_transfusion::getSemanticType("TRUCK"), autoware_perception_msgs::msg::ObjectClassification::TRUCK); EXPECT_EQ( - lidar_transfusion::getSemanticType("BUS"), + autoware::lidar_transfusion::getSemanticType("BUS"), autoware_perception_msgs::msg::ObjectClassification::BUS); EXPECT_EQ( - lidar_transfusion::getSemanticType("TRAILER"), + autoware::lidar_transfusion::getSemanticType("TRAILER"), autoware_perception_msgs::msg::ObjectClassification::TRAILER); EXPECT_EQ( - lidar_transfusion::getSemanticType("MOTORCYCLE"), + autoware::lidar_transfusion::getSemanticType("MOTORCYCLE"), autoware_perception_msgs::msg::ObjectClassification::MOTORCYCLE); EXPECT_EQ( - lidar_transfusion::getSemanticType("BICYCLE"), + autoware::lidar_transfusion::getSemanticType("BICYCLE"), autoware_perception_msgs::msg::ObjectClassification::BICYCLE); EXPECT_EQ( - lidar_transfusion::getSemanticType("PEDESTRIAN"), + autoware::lidar_transfusion::getSemanticType("PEDESTRIAN"), autoware_perception_msgs::msg::ObjectClassification::PEDESTRIAN); EXPECT_EQ( - lidar_transfusion::getSemanticType("UNKNOWN"), + autoware::lidar_transfusion::getSemanticType("UNKNOWN"), autoware_perception_msgs::msg::ObjectClassification::UNKNOWN); } diff --git a/perception/lidar_transfusion/test/test_voxel_generator.cpp b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp similarity index 98% rename from perception/lidar_transfusion/test/test_voxel_generator.cpp rename to perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp index 2673a341b3721..d8d7db1302761 100644 --- a/perception/lidar_transfusion/test/test_voxel_generator.cpp +++ b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp @@ -14,15 +14,15 @@ #include "test_voxel_generator.hpp" +#include "autoware/lidar_transfusion/transfusion_config.hpp" +#include "autoware/lidar_transfusion/utils.hpp" #include "gtest/gtest.h" -#include "lidar_transfusion/transfusion_config.hpp" -#include "lidar_transfusion/utils.hpp" #include #include "sensor_msgs/point_cloud2_iterator.hpp" -namespace lidar_transfusion +namespace autoware::lidar_transfusion { void VoxelGeneratorTest::SetUp() @@ -274,7 +274,7 @@ TEST_F(VoxelGeneratorTest, TwoFrames) EXPECT_TRUE(std::isnan(points[i])); } } -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion int main(int argc, char ** argv) { diff --git a/perception/lidar_transfusion/test/test_voxel_generator.hpp b/perception/autoware_lidar_transfusion/test/test_voxel_generator.hpp similarity index 92% rename from perception/lidar_transfusion/test/test_voxel_generator.hpp rename to perception/autoware_lidar_transfusion/test/test_voxel_generator.hpp index eccbe6412d183..641a42322a302 100644 --- a/perception/lidar_transfusion/test/test_voxel_generator.hpp +++ b/perception/autoware_lidar_transfusion/test/test_voxel_generator.hpp @@ -15,7 +15,7 @@ #ifndef TEST_VOXEL_GENERATOR_HPP_ #define TEST_VOXEL_GENERATOR_HPP_ -#include +#include #include #include @@ -26,7 +26,7 @@ #include #include -namespace lidar_transfusion +namespace autoware::lidar_transfusion { class VoxelGeneratorTest : public testing::Test @@ -60,6 +60,6 @@ class VoxelGeneratorTest : public testing::Test cudaStream_t stream_{}; }; -} // namespace lidar_transfusion +} // namespace autoware::lidar_transfusion #endif // TEST_VOXEL_GENERATOR_HPP_ From 19998adfeb48a8f7d7acf983f0cf938a2b050f87 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 22 Jul 2024 14:12:30 +0900 Subject: [PATCH 294/306] refactor(traffic_light_fine_detector): fix namespace and directory structure (#7973) * refactor: add autoware on the namespace Signed-off-by: Taekjin LEE * refactor: rename nodelet to node Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../traffic_light_node_container.launch.py | 2 +- .../CMakeLists.txt | 12 +++---- ...p => traffic_light_fine_detector_node.cpp} | 34 +++++++++---------- .../traffic_light_fine_detector_node.hpp} | 16 ++++----- 4 files changed, 31 insertions(+), 33 deletions(-) rename perception/traffic_light_fine_detector/src/{nodelet.cpp => traffic_light_fine_detector_node.cpp} (93%) rename perception/traffic_light_fine_detector/{include/traffic_light_fine_detector/nodelet.hpp => src/traffic_light_fine_detector_node.hpp} (93%) diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py index 6e77fa71cd553..ddf825921e468 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py @@ -137,7 +137,7 @@ def create_parameter_dict(*args): composable_node_descriptions=[ ComposableNode( package="traffic_light_fine_detector", - plugin="traffic_light::TrafficLightFineDetectorNodelet", + plugin="autoware::traffic_light::TrafficLightFineDetectorNode", name="traffic_light_fine_detector", namespace="detection", parameters=[fine_detector_model_param], diff --git a/perception/traffic_light_fine_detector/CMakeLists.txt b/perception/traffic_light_fine_detector/CMakeLists.txt index fe9fa2ffcaa8b..6b7e421d8d0a9 100644 --- a/perception/traffic_light_fine_detector/CMakeLists.txt +++ b/perception/traffic_light_fine_detector/CMakeLists.txt @@ -75,15 +75,15 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ${CUDA_INCLUDE_DIRS} ) - ament_auto_add_library(traffic_light_fine_detector_nodelet SHARED - src/nodelet.cpp + ament_auto_add_library(${PROJECT_NAME} SHARED + src/traffic_light_fine_detector_node.cpp ) - target_include_directories(traffic_light_fine_detector_nodelet PUBLIC + target_include_directories(${PROJECT_NAME} PUBLIC lib/include ) - target_link_libraries(traffic_light_fine_detector_nodelet + target_link_libraries(${PROJECT_NAME} ${NVINFER} ${NVONNXPARSER} ${NVINFER_PLUGIN} @@ -94,8 +94,8 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) stdc++fs ) - rclcpp_components_register_node(traffic_light_fine_detector_nodelet - PLUGIN "traffic_light::TrafficLightFineDetectorNodelet" + rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::traffic_light::TrafficLightFineDetectorNode" EXECUTABLE traffic_light_fine_detector_node ) diff --git a/perception/traffic_light_fine_detector/src/nodelet.cpp b/perception/traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp similarity index 93% rename from perception/traffic_light_fine_detector/src/nodelet.cpp rename to perception/traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp index 8037dc5472fbe..d22a3f2074a7b 100644 --- a/perception/traffic_light_fine_detector/src/nodelet.cpp +++ b/perception/traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_fine_detector/nodelet.hpp" +#include "traffic_light_fine_detector_node.hpp" #if (defined(_MSC_VER) or (defined(__GNUC__) and (7 <= __GNUC_MAJOR__))) #include @@ -22,6 +22,7 @@ namespace fs = ::std::filesystem; namespace fs = ::std::experimental::filesystem; #endif +#include #include #include #include @@ -46,15 +47,14 @@ float calWeightedIou( } // namespace -namespace traffic_light +namespace autoware::traffic_light { inline std::vector toFloatVector(const std::vector double_vector) { return std::vector(double_vector.begin(), double_vector.end()); } -TrafficLightFineDetectorNodelet::TrafficLightFineDetectorNodelet( - const rclcpp::NodeOptions & options) +TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOptions & options) : Node("traffic_light_fine_detector_node", options) { int num_class = 2; @@ -95,7 +95,7 @@ TrafficLightFineDetectorNodelet::TrafficLightFineDetectorNodelet( using std::chrono_literals::operator""ms; timer_ = rclcpp::create_timer( - this, get_clock(), 100ms, std::bind(&TrafficLightFineDetectorNodelet::connectCb, this)); + this, get_clock(), 100ms, std::bind(&TrafficLightFineDetectorNode::connectCb, this)); std::lock_guard lock(connect_mutex_); output_roi_pub_ = this->create_publisher("~/output/rois", 1); @@ -105,11 +105,10 @@ TrafficLightFineDetectorNodelet::TrafficLightFineDetectorNodelet( approximate_sync_.reset( new ApproximateSync(ApproximateSyncPolicy(10), image_sub_, rough_roi_sub_, expect_roi_sub_)); approximate_sync_->registerCallback( - std::bind(&TrafficLightFineDetectorNodelet::callback, this, _1, _2, _3)); + std::bind(&TrafficLightFineDetectorNode::callback, this, _1, _2, _3)); } else { sync_.reset(new Sync(SyncPolicy(10), image_sub_, rough_roi_sub_, expect_roi_sub_)); - sync_->registerCallback( - std::bind(&TrafficLightFineDetectorNodelet::callback, this, _1, _2, _3)); + sync_->registerCallback(std::bind(&TrafficLightFineDetectorNode::callback, this, _1, _2, _3)); } if (declare_parameter("build_only", false)) { @@ -118,7 +117,7 @@ TrafficLightFineDetectorNodelet::TrafficLightFineDetectorNodelet( } } -void TrafficLightFineDetectorNodelet::connectCb() +void TrafficLightFineDetectorNode::connectCb() { std::lock_guard lock(connect_mutex_); if (output_roi_pub_->get_subscription_count() == 0) { @@ -132,7 +131,7 @@ void TrafficLightFineDetectorNodelet::connectCb() } } -void TrafficLightFineDetectorNodelet::callback( +void TrafficLightFineDetectorNode::callback( const sensor_msgs::msg::Image::ConstSharedPtr in_image_msg, const TrafficLightRoiArray::ConstSharedPtr rough_roi_msg, const TrafficLightRoiArray::ConstSharedPtr expect_roi_msg) @@ -213,7 +212,7 @@ void TrafficLightFineDetectorNodelet::callback( exe_time_pub_->publish(exe_time_msg); } -float TrafficLightFineDetectorNodelet::evalMatchScore( +float TrafficLightFineDetectorNode::evalMatchScore( std::map & id2expectRoi, std::map & id2detections, std::map & id2bestDetection) @@ -236,7 +235,7 @@ float TrafficLightFineDetectorNodelet::evalMatchScore( return score_sum; } -void TrafficLightFineDetectorNodelet::detectionMatch( +void TrafficLightFineDetectorNode::detectionMatch( std::map & id2expectRoi, std::map & id2detections, TrafficLightRoiArray & out_rois) { @@ -298,7 +297,7 @@ void TrafficLightFineDetectorNodelet::detectionMatch( } } -bool TrafficLightFineDetectorNodelet::rosMsg2CvMat( +bool TrafficLightFineDetectorNode::rosMsg2CvMat( const sensor_msgs::msg::Image::ConstSharedPtr image_msg, cv::Mat & image, std::string encode) { try { @@ -313,8 +312,7 @@ bool TrafficLightFineDetectorNodelet::rosMsg2CvMat( return true; } -bool TrafficLightFineDetectorNodelet::fitInFrame( - cv::Point & lt, cv::Point & rb, const cv::Size & size) +bool TrafficLightFineDetectorNode::fitInFrame(cv::Point & lt, cv::Point & rb, const cv::Size & size) { const int width = static_cast(size.width); const int height = static_cast(size.height); @@ -334,7 +332,7 @@ bool TrafficLightFineDetectorNodelet::fitInFrame( return true; } -bool TrafficLightFineDetectorNodelet::readLabelFile( +bool TrafficLightFineDetectorNode::readLabelFile( const std::string & filepath, std::vector & tlr_label_id_, int & num_class) { std::ifstream labelsFile(filepath); @@ -354,7 +352,7 @@ bool TrafficLightFineDetectorNodelet::readLabelFile( return tlr_label_id_.size() != 0; } -} // namespace traffic_light +} // namespace autoware::traffic_light #include -RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::TrafficLightFineDetectorNodelet) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::TrafficLightFineDetectorNode) diff --git a/perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp b/perception/traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp similarity index 93% rename from perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp rename to perception/traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp index 5c89c76a11833..a5ae22946e9ab 100644 --- a/perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp +++ b/perception/traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_FINE_DETECTOR__NODELET_HPP_ -#define TRAFFIC_LIGHT_FINE_DETECTOR__NODELET_HPP_ +#ifndef TRAFFIC_LIGHT_FINE_DETECTOR_NODE_HPP_ +#define TRAFFIC_LIGHT_FINE_DETECTOR_NODE_HPP_ #include #include @@ -50,15 +50,15 @@ typedef struct Detection float x, y, w, h, prob; } Detection; -namespace traffic_light +namespace autoware::traffic_light { -class TrafficLightFineDetectorNodelet : public rclcpp::Node +class TrafficLightFineDetectorNode : public rclcpp::Node { using TrafficLightRoi = tier4_perception_msgs::msg::TrafficLightRoi; using TrafficLightRoiArray = tier4_perception_msgs::msg::TrafficLightRoiArray; public: - explicit TrafficLightFineDetectorNodelet(const rclcpp::NodeOptions & options); + explicit TrafficLightFineDetectorNode(const rclcpp::NodeOptions & options); void connectCb(); /** * @brief main process function. @@ -168,8 +168,8 @@ class TrafficLightFineDetectorNodelet : public rclcpp::Node int batch_size_; std::unique_ptr trt_yolox_; -}; // TrafficLightFineDetectorNodelet +}; // TrafficLightFineDetectorNode -} // namespace traffic_light +} // namespace autoware::traffic_light -#endif // TRAFFIC_LIGHT_FINE_DETECTOR__NODELET_HPP_ +#endif // TRAFFIC_LIGHT_FINE_DETECTOR_NODE_HPP_ From 3974d8fcebe59b6cd1c4af50633710d6eac003c4 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 22 Jul 2024 14:12:53 +0900 Subject: [PATCH 295/306] refactor(traffic_light_visualization): fix namespace and directory structure (#7968) * feat: namespace fix and directory structure Signed-off-by: Taekjin LEE * chore: Remove main.cpp and implement node by template Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../traffic_light_node_container.launch.py | 2 +- .../CMakeLists.txt | 18 +++++---- .../src/traffic_light_map_visualizer/main.cpp | 29 --------------- .../src/traffic_light_map_visualizer/node.cpp | 17 +++++---- .../traffic_light_map_visualizer/node.hpp | 12 +++--- .../{nodelet.cpp => node.cpp} | 37 +++++++++---------- .../traffic_light_roi_visualizer/node.hpp} | 14 +++---- .../shape_draw.cpp | 6 ++- .../shape_draw.hpp | 4 ++ 9 files changed, 62 insertions(+), 77 deletions(-) delete mode 100644 perception/traffic_light_visualization/src/traffic_light_map_visualizer/main.cpp rename perception/traffic_light_visualization/{include/traffic_light_visualization => src}/traffic_light_map_visualizer/node.hpp (81%) rename perception/traffic_light_visualization/src/traffic_light_roi_visualizer/{nodelet.cpp => node.cpp} (87%) rename perception/traffic_light_visualization/{include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp => src/traffic_light_roi_visualizer/node.hpp} (92%) rename perception/traffic_light_visualization/{include/traffic_light_visualization => src}/traffic_light_roi_visualizer/shape_draw.hpp (94%) diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py index ddf825921e468..a412e1b265978 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py @@ -86,7 +86,7 @@ def create_parameter_dict(*args): ), ComposableNode( package="traffic_light_visualization", - plugin="traffic_light::TrafficLightRoiVisualizerNodelet", + plugin="autoware::traffic_light::TrafficLightRoiVisualizerNode", name="traffic_light_roi_visualizer", parameters=[create_parameter_dict("enable_fine_detection")], remappings=[ diff --git a/perception/traffic_light_visualization/CMakeLists.txt b/perception/traffic_light_visualization/CMakeLists.txt index 08f6b48cabbd9..24ee442676a9e 100644 --- a/perception/traffic_light_visualization/CMakeLists.txt +++ b/perception/traffic_light_visualization/CMakeLists.txt @@ -6,23 +6,27 @@ autoware_package() find_package(OpenCV REQUIRED) -ament_auto_add_library(traffic_light_roi_visualizer_nodelet SHARED - src/traffic_light_roi_visualizer/nodelet.cpp +ament_auto_add_library(traffic_light_roi_visualizer SHARED + src/traffic_light_roi_visualizer/node.cpp src/traffic_light_roi_visualizer/shape_draw.cpp ) -target_link_libraries(traffic_light_roi_visualizer_nodelet +target_link_libraries(traffic_light_roi_visualizer ${OpenCV_LIBRARIES} ) -rclcpp_components_register_node(traffic_light_roi_visualizer_nodelet - PLUGIN "traffic_light::TrafficLightRoiVisualizerNodelet" +rclcpp_components_register_node(traffic_light_roi_visualizer + PLUGIN "autoware::traffic_light::TrafficLightRoiVisualizerNode" EXECUTABLE traffic_light_visualization_node ) -ament_auto_add_executable(traffic_light_map_visualizer_node +ament_auto_add_library(traffic_light_map_visualizer SHARED src/traffic_light_map_visualizer/node.cpp - src/traffic_light_map_visualizer/main.cpp +) + +rclcpp_components_register_node(traffic_light_map_visualizer + PLUGIN "autoware::traffic_light::TrafficLightMapVisualizerNode" + EXECUTABLE traffic_light_map_visualizer_node ) # Copy the assets directory to the installation directory diff --git a/perception/traffic_light_visualization/src/traffic_light_map_visualizer/main.cpp b/perception/traffic_light_visualization/src/traffic_light_map_visualizer/main.cpp deleted file mode 100644 index 62d416457c6f0..0000000000000 --- a/perception/traffic_light_visualization/src/traffic_light_map_visualizer/main.cpp +++ /dev/null @@ -1,29 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "traffic_light_visualization/traffic_light_map_visualizer/node.hpp" - -#include - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - auto node = std::make_shared( - "traffic_light_map_visualizer_node", node_options); - rclcpp::spin(node); - return 0; -} diff --git a/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp b/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp index 95944a29d6092..90b73e643ae8e 100644 --- a/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp +++ b/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_visualization/traffic_light_map_visualizer/node.hpp" +#include "node.hpp" #include #include @@ -26,8 +26,6 @@ #include #include -using std::placeholders::_1; - namespace { [[maybe_unused]] void setColor( @@ -105,12 +103,14 @@ void lightAsMarker( } } // namespace -namespace traffic_light +namespace autoware::traffic_light { TrafficLightMapVisualizerNode::TrafficLightMapVisualizerNode( - const std::string & node_name, const rclcpp::NodeOptions & node_options) -: rclcpp::Node(node_name, node_options) + const rclcpp::NodeOptions & node_options) +: rclcpp::Node("traffic_light_map_visualizer_node", node_options) { + using std::placeholders::_1; + light_marker_pub_ = create_publisher("~/output/traffic_light", 1); tl_state_sub_ = create_subscription( @@ -209,4 +209,7 @@ void TrafficLightMapVisualizerNode::binMapCallback( lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(viz_lanelet_map); aw_tl_reg_elems_ = lanelet::utils::query::autowareTrafficLights(all_lanelets); } -} // namespace traffic_light +} // namespace autoware::traffic_light + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::TrafficLightMapVisualizerNode) diff --git a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_map_visualizer/node.hpp b/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.hpp similarity index 81% rename from perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_map_visualizer/node.hpp rename to perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.hpp index 2cf9a98aea443..61b5204b57592 100644 --- a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_map_visualizer/node.hpp +++ b/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_VISUALIZATION__TRAFFIC_LIGHT_MAP_VISUALIZER__NODE_HPP_ -#define TRAFFIC_LIGHT_VISUALIZATION__TRAFFIC_LIGHT_MAP_VISUALIZER__NODE_HPP_ +#ifndef TRAFFIC_LIGHT_MAP_VISUALIZER__NODE_HPP_ +#define TRAFFIC_LIGHT_MAP_VISUALIZER__NODE_HPP_ #include #include @@ -26,12 +26,12 @@ #include #include -namespace traffic_light +namespace autoware::traffic_light { class TrafficLightMapVisualizerNode : public rclcpp::Node { public: - TrafficLightMapVisualizerNode(const std::string & node_name, const rclcpp::NodeOptions & options); + explicit TrafficLightMapVisualizerNode(const rclcpp::NodeOptions & options); ~TrafficLightMapVisualizerNode() = default; void trafficSignalsCallback( const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr @@ -47,6 +47,6 @@ class TrafficLightMapVisualizerNode : public rclcpp::Node std::vector aw_tl_reg_elems_; }; -} // namespace traffic_light +} // namespace autoware::traffic_light -#endif // TRAFFIC_LIGHT_VISUALIZATION__TRAFFIC_LIGHT_MAP_VISUALIZER__NODE_HPP_ +#endif // TRAFFIC_LIGHT_MAP_VISUALIZER__NODE_HPP_ diff --git a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp similarity index 87% rename from perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp rename to perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp index df097e64ecd36..74eac71873909 100644 --- a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp +++ b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp @@ -12,21 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp" // NOLINT(whitespace/line_length) +#include "node.hpp" -#include "traffic_light_visualization/traffic_light_roi_visualizer/shape_draw.hpp" // NOLINT(whitespace/line_length) +#include "shape_draw.hpp" #include -#include #include #include #include -namespace traffic_light +namespace autoware::traffic_light { -TrafficLightRoiVisualizerNodelet::TrafficLightRoiVisualizerNodelet( - const rclcpp::NodeOptions & options) +TrafficLightRoiVisualizerNode::TrafficLightRoiVisualizerNode(const rclcpp::NodeOptions & options) : Node("traffic_light_roi_visualizer_node", options) { using std::placeholders::_1; @@ -39,22 +37,22 @@ TrafficLightRoiVisualizerNodelet::TrafficLightRoiVisualizerNodelet( sync_with_rough_roi_.reset(new SyncWithRoughRoi( SyncPolicyWithRoughRoi(10), image_sub_, roi_sub_, rough_roi_sub_, traffic_signals_sub_)); sync_with_rough_roi_->registerCallback( - std::bind(&TrafficLightRoiVisualizerNodelet::imageRoughRoiCallback, this, _1, _2, _3, _4)); + std::bind(&TrafficLightRoiVisualizerNode::imageRoughRoiCallback, this, _1, _2, _3, _4)); } else { sync_.reset(new Sync(SyncPolicy(10), image_sub_, roi_sub_, traffic_signals_sub_)); sync_->registerCallback( - std::bind(&TrafficLightRoiVisualizerNodelet::imageRoiCallback, this, _1, _2, _3)); + std::bind(&TrafficLightRoiVisualizerNode::imageRoiCallback, this, _1, _2, _3)); } using std::chrono_literals::operator""ms; timer_ = rclcpp::create_timer( - this, get_clock(), 100ms, std::bind(&TrafficLightRoiVisualizerNodelet::connectCb, this)); + this, get_clock(), 100ms, std::bind(&TrafficLightRoiVisualizerNode::connectCb, this)); image_pub_ = image_transport::create_publisher(this, "~/output/image", rclcpp::QoS{1}.get_rmw_qos_profile()); } -void TrafficLightRoiVisualizerNodelet::connectCb() +void TrafficLightRoiVisualizerNode::connectCb() { if (image_pub_.getNumSubscribers() == 0) { image_sub_.unsubscribe(); @@ -74,7 +72,7 @@ void TrafficLightRoiVisualizerNodelet::connectCb() } } -bool TrafficLightRoiVisualizerNodelet::createRect( +bool TrafficLightRoiVisualizerNode::createRect( cv::Mat & image, const tier4_perception_msgs::msg::TrafficLightRoi & tl_roi, const cv::Scalar & color) { @@ -89,7 +87,7 @@ bool TrafficLightRoiVisualizerNodelet::createRect( return true; } -bool TrafficLightRoiVisualizerNodelet::createRect( +bool TrafficLightRoiVisualizerNode::createRect( cv::Mat & image, const tier4_perception_msgs::msg::TrafficLightRoi & tl_roi, const ClassificationResult & result) { @@ -111,13 +109,13 @@ bool TrafficLightRoiVisualizerNodelet::createRect( std::string shape_name = extractShapeName(result.label); - drawTrafficLightShape( + visualization::drawTrafficLightShape( image, shape_name, cv::Point(tl_roi.roi.x_offset, tl_roi.roi.y_offset), color, 16, result.prob); return true; } -void TrafficLightRoiVisualizerNodelet::imageRoiCallback( +void TrafficLightRoiVisualizerNode::imageRoiCallback( const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg, const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg, [[maybe_unused]] const tier4_perception_msgs::msg::TrafficLightArray::ConstSharedPtr & @@ -148,7 +146,7 @@ void TrafficLightRoiVisualizerNodelet::imageRoiCallback( image_pub_.publish(cv_ptr->toImageMsg()); } -bool TrafficLightRoiVisualizerNodelet::getClassificationResult( +bool TrafficLightRoiVisualizerNode::getClassificationResult( int id, const tier4_perception_msgs::msg::TrafficLightArray & traffic_signals, ClassificationResult & result) { @@ -171,7 +169,7 @@ bool TrafficLightRoiVisualizerNodelet::getClassificationResult( return has_correspond_traffic_signal; } -bool TrafficLightRoiVisualizerNodelet::getRoiFromId( +bool TrafficLightRoiVisualizerNode::getRoiFromId( int id, const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & rois, tier4_perception_msgs::msg::TrafficLightRoi & correspond_roi) { @@ -184,7 +182,7 @@ bool TrafficLightRoiVisualizerNodelet::getRoiFromId( return false; } -void TrafficLightRoiVisualizerNodelet::imageRoughRoiCallback( +void TrafficLightRoiVisualizerNode::imageRoughRoiCallback( const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg, const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg, const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_rough_roi_msg, @@ -225,6 +223,7 @@ void TrafficLightRoiVisualizerNodelet::imageRoughRoiCallback( image_pub_.publish(cv_ptr->toImageMsg()); } -} // namespace traffic_light +} // namespace autoware::traffic_light -RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::TrafficLightRoiVisualizerNodelet) +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::TrafficLightRoiVisualizerNode) diff --git a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.hpp similarity index 92% rename from perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp rename to perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.hpp index f7ac7471e21ef..ac16d760adaab 100644 --- a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp +++ b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/node.hpp @@ -11,8 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_VISUALIZATION__TRAFFIC_LIGHT_ROI_VISUALIZER__NODELET_HPP_ -#define TRAFFIC_LIGHT_VISUALIZATION__TRAFFIC_LIGHT_ROI_VISUALIZER__NODELET_HPP_ +#ifndef TRAFFIC_LIGHT_ROI_VISUALIZER__NODE_HPP_ +#define TRAFFIC_LIGHT_ROI_VISUALIZER__NODE_HPP_ #include #include @@ -38,7 +38,7 @@ #include #include -namespace traffic_light +namespace autoware::traffic_light { struct ClassificationResult { @@ -46,10 +46,10 @@ struct ClassificationResult std::string label; }; -class TrafficLightRoiVisualizerNodelet : public rclcpp::Node +class TrafficLightRoiVisualizerNode : public rclcpp::Node { public: - explicit TrafficLightRoiVisualizerNodelet(const rclcpp::NodeOptions & options); + explicit TrafficLightRoiVisualizerNode(const rclcpp::NodeOptions & options); void connectCb(); void imageRoiCallback( @@ -138,6 +138,6 @@ class TrafficLightRoiVisualizerNodelet : public rclcpp::Node bool enable_fine_detection_; }; -} // namespace traffic_light +} // namespace autoware::traffic_light -#endif // TRAFFIC_LIGHT_VISUALIZATION__TRAFFIC_LIGHT_ROI_VISUALIZER__NODELET_HPP_ +#endif // TRAFFIC_LIGHT_ROI_VISUALIZER__NODE_HPP_ diff --git a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp index 91a00a940885c..4ee49eca10624 100644 --- a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp +++ b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp @@ -11,12 +11,14 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_visualization/traffic_light_roi_visualizer/shape_draw.hpp" +#include "shape_draw.hpp" #include "opencv2/core/types.hpp" #include "opencv2/highgui.hpp" #include "opencv2/imgproc.hpp" +namespace autoware::traffic_light::visualization +{ void drawShape( const DrawFunctionParams & params, const std::string & filename, bool flipHorizontally, bool flipVertically, int x_offset, int y_offset, double scale_factor) @@ -171,3 +173,5 @@ void drawTrafficLightShape( std::cerr << "Unknown shape: " << shape << std::endl; } } + +} // namespace autoware::traffic_light::visualization diff --git a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/shape_draw.hpp b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.hpp similarity index 94% rename from perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/shape_draw.hpp rename to perception/traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.hpp index 7f83104edf48e..150d78f767ee3 100644 --- a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/shape_draw.hpp +++ b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.hpp @@ -23,6 +23,8 @@ #include #include +namespace autoware::traffic_light::visualization +{ struct DrawFunctionParams { cv::Mat & image; @@ -49,3 +51,5 @@ void drawUnknown(const DrawFunctionParams & params); void drawTrafficLightShape( cv::Mat & image, const std::string & shape, const cv::Point & position, const cv::Scalar & color, int size, float probability); + +} // namespace autoware::traffic_light::visualization From eb1559492ec7fd4a7d4cfd1111b1bc094fc435da Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 22 Jul 2024 14:16:55 +0900 Subject: [PATCH 296/306] chore(velocity_smoother): add maintainer (#8121) add maintainer Signed-off-by: Go Sakayori --- planning/autoware_velocity_smoother/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml index 997f7b16e5652..62a08f60ac4e6 100644 --- a/planning/autoware_velocity_smoother/package.xml +++ b/planning/autoware_velocity_smoother/package.xml @@ -9,6 +9,7 @@ Takamasa Horibe Makoto Kurihara Satoshi Ota + Go Sakayori Apache License 2.0 Takamasa Horibe From d9e984d15cb84da422777769f5402e287e08ec13 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:26:17 +0900 Subject: [PATCH 297/306] Update sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml --- .../launch/ring_passthrough_filter_node.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml index c18a26f036d9f..5a84381cb78dd 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml @@ -11,7 +11,5 @@ - - From 288c038fefe4ca2a37895e94f4e774f98dbc9f30 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:26:25 +0900 Subject: [PATCH 298/306] Update sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml --- .../launch/ring_passthrough_filter_node.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml index 5a84381cb78dd..2fba9bf61c13b 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml @@ -6,6 +6,8 @@ + + From b6f1776994f9bea628dada24568279f3afae0178 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 22 Jul 2024 05:31:41 +0000 Subject: [PATCH 299/306] style(pre-commit): autofix --- .../launch/approximate_downsample_filter_node.launch.xml | 2 +- .../pickup_based_voxel_grid_downsample_filter_node.launch.xml | 2 +- .../launch/voxel_grid_downsample_filter_node.launch.xml | 2 +- .../launch/voxel_grid_outlier_filter_node.launch.xml | 2 +- .../src/concatenate_data/concatenate_and_time_sync_nodelet.cpp | 3 ++- 5 files changed, 6 insertions(+), 5 deletions(-) diff --git a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml index 95b1ded06e366..23ae90281b306 100644 --- a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml index 88ed0d9d73c8c..b606c1eb0d3fd 100644 --- a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml index 886de87f333f0..c9faf2f855b32 100644 --- a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml index c093aa8a3b300..a1afda22c9e3c 100644 --- a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index 5c65b4dceadf7..3c11290b605c8 100644 --- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -117,7 +117,8 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro publish_synchronized_pointcloud_ = declare_parameter("publish_synchronized_pointcloud"); keep_input_frame_in_synchronized_pointcloud_ = declare_parameter("keep_input_frame_in_synchronized_pointcloud"); - synchronized_pointcloud_postfix_ = declare_parameter("synchronized_pointcloud_postfix"); + synchronized_pointcloud_postfix_ = + declare_parameter("synchronized_pointcloud_postfix"); } // Initialize not_subscribed_topic_names_ From f4bed156d2c49367f9174701b57f3317225652d5 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:54:39 +0900 Subject: [PATCH 300/306] Update sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp --- .../src/outlier_filter/ring_outlier_filter_nodelet.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp index 3182c6fc6a075..c76ee57b58b7d 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp @@ -50,8 +50,8 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions distance_ratio_ = declare_parameter("distance_ratio"); object_length_threshold_ = declare_parameter("object_length_threshold"); num_points_threshold_ = declare_parameter("num_points_threshold"); - max_rings_num_ = declare_parameter("max_rings_num"); - max_points_num_per_ring_ = declare_parameter("max_points_num_per_ring"); + max_rings_num_ = declare_parameter("max_rings_num"); + max_points_num_per_ring_ = declare_parameter("max_points_num_per_ring"); publish_outlier_pointcloud_ = declare_parameter("publish_outlier_pointcloud"); min_azimuth_deg_ = declare_parameter("min_azimuth_deg"); From 1f3a0bf5e1db180527ffe3691e7bda6c64a7f15a Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:54:46 +0900 Subject: [PATCH 301/306] Update sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp --- .../outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp index f12945f68b7dc..1f82605f6a3e6 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp @@ -28,7 +28,7 @@ RadiusSearch2DOutlierFilterComponent::RadiusSearch2DOutlierFilterComponent( { // set initial parameters { - min_neighbors_ = declare_parameter("min_neighbors"); + min_neighbors_ = declare_parameter("min_neighbors"); search_radius_ = declare_parameter("search_radius"); } From 58627c3e51b16af9dfef94af87f019502950243e Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 14:59:00 +0900 Subject: [PATCH 302/306] Update sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml --- .../pointcloud_preprocessor/launch/crop_box_filter.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml b/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml index 62aaf94ea7587..c699c92e22866 100644 --- a/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml @@ -1,4 +1,4 @@ - + From 2c2d1a61b7fb74d4e2f66feaaa93af2a032d0fcc Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 22 Jul 2024 15:07:07 +0900 Subject: [PATCH 303/306] Update sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml --- .../launch/ring_passthrough_filter_node.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml index 2fba9bf61c13b..966e1ef42d8a8 100644 --- a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml +++ b/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml @@ -10,7 +10,6 @@ - From 1f1b6e48b94254c134b660e173e2396e5471d2c8 Mon Sep 17 00:00:00 2001 From: Ariiees Date: Tue, 23 Jul 2024 15:24:45 -0400 Subject: [PATCH 304/306] reset to old version Signed-off-by: Ariiees --- .../CMakeLists.txt | 0 .../README.md | 0 .../config/approximate_downsample_filter.param.yaml | 0 .../config/blockage_diagnostics.param.yaml | 0 .../config/concatenate_and_time_sync.param.yaml | 0 .../config/concatenate_pointclouds.param.yaml | 0 .../config/crop_box_filter.param.yaml | 0 .../config/distortion_corrector.param.yaml | 0 .../config/distortion_corrector_node.param.yaml | 0 .../config/dual_return_outlier_filter.param.yaml | 0 .../config/filter.param.yaml | 0 .../config/lanelet2_map_filter.param.yaml | 0 .../config/passthrough_filter_unit16.param.yaml | 0 ...up_based_voxel_grid_downsample_filter.param.yaml | 0 .../config/pointcloud_accumulator.param.yaml | 0 .../config/processing_time_ms.xml | 0 .../radius_search_2d_outlier_filter.param.yaml | 0 .../config/random_downsample_filter.param.yaml | 0 .../config/ring_outlier_filter.param.yaml | 0 .../config/time_synchronizer.param.yaml | 0 .../config/vector_map_inside_area_filter.param.yaml | 0 .../config/voxel_grid_downsample_filter.param.yaml | 0 .../config/voxel_grid_outlier_filter.param.yaml | 0 .../docs/blockage_diag.md | 0 .../docs/concatenate-data.md | 0 .../docs/crop-box-filter.md | 0 .../docs/distortion-corrector.md | 0 .../docs/downsample-filter.md | 0 .../docs/dual-return-outlier-filter.md | 0 .../docs/image/blockage_diag.png | Bin .../docs/image/blockage_diag_flowchart.drawio.svg | 0 .../docs/image/concatenate_data.drawio.svg | 0 .../docs/image/distortion_corrector.jpg | Bin ...tlier_filter-dual_return_ROI_setting_options.png | Bin .../outlier_filter-dual_return_detail.drawio.svg | 0 .../outlier_filter-dual_return_overall.drawio.svg | 0 .../outlier_filter-radius_search_2d.drawio.svg | 0 .../image/outlier_filter-return_type.drawio.svg | 0 .../docs/image/outlier_filter-ring.drawio.svg | 0 .../docs/image/outlier_filter-voxel_grid.drawio.svg | 0 .../image/pointcloud_preprocess_pipeline.drawio.png | Bin .../vector_map_inside_area_filter_overview.svg | 0 .../docs/outlier-filter.md | 0 .../docs/passthrough-filter.md | 0 .../docs/pointcloud-accumulator.md | 0 .../docs/radius-search-2d-outlier-filter.md | 0 .../docs/ring-outlier-filter.md | 0 .../docs/vector-map-filter.md | 0 .../docs/vector-map-inside-area-filter.md | 0 .../docs/voxel-grid-outlier-filter.md | 0 .../blockage_diag/blockage_diag_nodelet.hpp | 0 .../concatenate_and_time_sync_nodelet.hpp | 0 .../concatenate_data/concatenate_pointclouds.hpp | 0 .../crop_box_filter/crop_box_filter_nodelet.hpp | 0 .../distortion_corrector/distortion_corrector.hpp | 0 .../distortion_corrector_node.hpp | 0 .../approximate_downsample_filter_nodelet.hpp | 0 .../faster_voxel_grid_downsample_filter.hpp | 0 .../pickup_based_voxel_grid_downsample_filter.hpp | 0 .../random_downsample_filter_nodelet.hpp | 0 .../voxel_grid_downsample_filter_nodelet.hpp | 0 .../include/pointcloud_preprocessor/filter.hpp | 0 .../dual_return_outlier_filter_nodelet.hpp | 0 .../radius_search_2d_outlier_filter_nodelet.hpp | 0 .../outlier_filter/ring_outlier_filter_nodelet.hpp | 0 .../voxel_grid_outlier_filter_nodelet.hpp | 0 .../passthrough_filter_nodelet.hpp | 0 .../passthrough_filter_uint16_nodelet.hpp | 0 .../passthrough_filter/passthrough_uint16.hpp | 0 .../pointcloud_accumulator_nodelet.hpp | 0 .../polygon_remover/polygon_remover.hpp | 0 .../time_synchronizer/time_synchronizer_nodelet.hpp | 0 .../pointcloud_preprocessor/transform_info.hpp | 0 .../pointcloud_preprocessor/utility/geometry.hpp | 0 .../pointcloud_preprocessor/utility/memory.hpp | 0 .../lanelet2_map_filter_nodelet.hpp | 0 .../vector_map_inside_area_filter.hpp | 0 .../approximate_downsample_filter_node.launch.xml | 0 .../launch/blockage_diagnostics_node.launch.xml | 0 .../launch/crop_box_filter.launch.xml | 0 .../launch/distortion_corrector_node.launch.xml | 0 .../dual_return_outlier_filter_node.launch.xml | 0 .../launch/lanelet2_map_filter_node.launch.xml | 0 ...sed_voxel_grid_downsample_filter_node.launch.xml | 0 .../launch/pointcloud_accumulator_node.launch.xml | 0 .../launch/polygon_remover.launch.py | 0 .../launch/preprocessor.launch.py | 0 .../launch/preprocessor.launch.xml | 0 .../radius_search_2d_outlier_filter_node.launch.xml | 0 .../launch/random_downsample_filter_node.launch.xml | 0 .../launch/ring_outlier_filter_node.launch.xml | 0 .../launch/ring_passthrough_filter_node.launch.xml | 0 .../vector_map_inside_area_filter_node.launch.xml | 0 .../voxel_grid_downsample_filter_node.launch.xml | 0 .../voxel_grid_outlier_filter_node.launch.xml | 0 .../package.xml | 0 .../approximate_downsample_filter.schema.json | 0 .../schema/blockage_diag.schema.json | 0 .../schema/crop_box_filter.schema.json | 0 .../schema/distortion_corrector_node.schema.json | 0 .../schema/dual_return_outlier_filter.schema.json | 0 .../schema/filter.schema.json | 0 .../schema/lanelet2_map_filter.schema.json | 0 .../schema/passthrough_filter.schema.json | 0 ...p_based_voxel_grid_downsample_filter.schema.json | 0 .../schema/pointcloud_accumulator.schema.json | 0 .../schema/random_downsample_filter.schema.json | 0 .../schema/ring_outlier_filter.schema.json | 0 .../vector_map_inside_area_filter.schema.json | 0 .../schema/voxel_grid_downsample_filter.schema.json | 0 .../schema/voxel_grid_outlier_filter.schema.json | 0 .../src/blockage_diag/blockage_diag_nodelet.cpp | 0 .../concatenate_and_time_sync_nodelet.cpp | 0 .../concatenate_data/concatenate_pointclouds.cpp | 0 .../src/crop_box_filter/crop_box_filter_nodelet.cpp | 0 .../distortion_corrector/distortion_corrector.cpp | 0 .../distortion_corrector_node.cpp | 0 .../approximate_downsample_filter_nodelet.cpp | 0 .../faster_voxel_grid_downsample_filter.cpp | 0 .../pickup_based_voxel_grid_downsample_filter.cpp | 0 .../random_downsample_filter_nodelet.cpp | 0 .../src/downsample_filter/robin_hood.h | 0 .../voxel_grid_downsample_filter_nodelet.cpp | 0 .../src/filter.cpp | 0 .../dual_return_outlier_filter_nodelet.cpp | 0 .../radius_search_2d_outlier_filter_nodelet.cpp | 0 .../outlier_filter/ring_outlier_filter_nodelet.cpp | 0 .../voxel_grid_outlier_filter_nodelet.cpp | 0 .../passthrough_filter_nodelet.cpp | 0 .../passthrough_filter_uint16_nodelet.cpp | 0 .../src/passthrough_filter/passthrough_uint16.cpp | 0 .../pointcloud_accumulator_nodelet.cpp | 0 .../src/polygon_remover/polygon_remover.cpp | 0 .../time_synchronizer/time_synchronizer_nodelet.cpp | 0 .../src/utility/geometry.cpp | 0 .../src/utility/memory.cpp | 0 .../lanelet2_map_filter_nodelet.cpp | 0 .../vector_map_inside_area_filter.cpp | 0 .../test/test_distortion_corrector_node.cpp | 0 .../test/test_utilities.cpp | 0 140 files changed, 0 insertions(+), 0 deletions(-) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/CMakeLists.txt (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/README.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/approximate_downsample_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/blockage_diagnostics.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/concatenate_and_time_sync.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/concatenate_pointclouds.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/crop_box_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/distortion_corrector.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/distortion_corrector_node.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/dual_return_outlier_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/lanelet2_map_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/passthrough_filter_unit16.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/pickup_based_voxel_grid_downsample_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/pointcloud_accumulator.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/processing_time_ms.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/radius_search_2d_outlier_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/random_downsample_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/ring_outlier_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/time_synchronizer.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/vector_map_inside_area_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/voxel_grid_downsample_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/config/voxel_grid_outlier_filter.param.yaml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/blockage_diag.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/concatenate-data.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/crop-box-filter.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/distortion-corrector.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/downsample-filter.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/dual-return-outlier-filter.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/image/blockage_diag.png (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/image/blockage_diag_flowchart.drawio.svg (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/image/concatenate_data.drawio.svg (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/image/distortion_corrector.jpg (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/image/outlier_filter-dual_return_ROI_setting_options.png (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/image/outlier_filter-dual_return_detail.drawio.svg (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/image/outlier_filter-dual_return_overall.drawio.svg (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/image/outlier_filter-radius_search_2d.drawio.svg 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(100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/radius-search-2d-outlier-filter.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/ring-outlier-filter.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/vector-map-filter.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/vector-map-inside-area-filter.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/docs/voxel-grid-outlier-filter.md (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/filter.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/transform_info.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/utility/geometry.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/utility/memory.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/approximate_downsample_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/blockage_diagnostics_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/crop_box_filter.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/distortion_corrector_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/dual_return_outlier_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/lanelet2_map_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/pointcloud_accumulator_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/polygon_remover.launch.py (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/preprocessor.launch.py (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/preprocessor.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/radius_search_2d_outlier_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/random_downsample_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/ring_outlier_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/ring_passthrough_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/vector_map_inside_area_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/voxel_grid_downsample_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/launch/voxel_grid_outlier_filter_node.launch.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/package.xml (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/schema/approximate_downsample_filter.schema.json (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/schema/blockage_diag.schema.json (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/schema/crop_box_filter.schema.json (100%) 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rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/downsample_filter/robin_hood.h (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/filter.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/outlier_filter/ring_outlier_filter_nodelet.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/passthrough_filter/passthrough_filter_nodelet.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/passthrough_filter/passthrough_uint16.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/polygon_remover/polygon_remover.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/time_synchronizer/time_synchronizer_nodelet.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/utility/geometry.cpp (100%) rename sensing/{pointcloud_preprocessor => autoware_pointcloud_preprocessor}/src/utility/memory.cpp (100%) rename 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b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp similarity index 100% rename from sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp rename to sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp diff --git a/sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/crop_box_filter.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/distortion_corrector_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/distortion_corrector_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/distortion_corrector_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/distortion_corrector_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py b/sensing/autoware_pointcloud_preprocessor/launch/polygon_remover.launch.py similarity index 100% rename from sensing/pointcloud_preprocessor/launch/polygon_remover.launch.py rename to sensing/autoware_pointcloud_preprocessor/launch/polygon_remover.launch.py diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.py b/sensing/autoware_pointcloud_preprocessor/launch/preprocessor.launch.py similarity index 100% rename from sensing/pointcloud_preprocessor/launch/preprocessor.launch.py rename to sensing/autoware_pointcloud_preprocessor/launch/preprocessor.launch.py diff --git a/sensing/pointcloud_preprocessor/launch/preprocessor.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/preprocessor.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/preprocessor.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/preprocessor.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml similarity index 100% rename from sensing/pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml diff --git a/sensing/pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml similarity index 100% rename from sensing/pointcloud_preprocessor/package.xml rename to sensing/autoware_pointcloud_preprocessor/package.xml diff --git a/sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/blockage_diag.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/blockage_diag.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/distortion_corrector_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/distortion_corrector_node.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json similarity index 100% rename from sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json rename to sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json diff --git a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp rename to sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp diff --git a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp rename to sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp rename to sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp rename to sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp rename to sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/robin_hood.h b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h similarity index 100% rename from sensing/pointcloud_preprocessor/src/downsample_filter/robin_hood.h rename to sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/filter.cpp rename to sensing/autoware_pointcloud_preprocessor/src/filter.cpp diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp b/sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp rename to sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp diff --git a/sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp b/sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp rename to sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp diff --git a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/utility/geometry.cpp b/sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/utility/geometry.cpp rename to sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp diff --git a/sensing/pointcloud_preprocessor/src/utility/memory.cpp b/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/utility/memory.cpp rename to sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp diff --git a/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp diff --git a/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp rename to sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp diff --git a/sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/test/test_distortion_corrector_node.cpp rename to sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp diff --git a/sensing/pointcloud_preprocessor/test/test_utilities.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_utilities.cpp similarity index 100% rename from sensing/pointcloud_preprocessor/test/test_utilities.cpp rename to sensing/autoware_pointcloud_preprocessor/test/test_utilities.cpp From 698732e73613e48dbff68400043a458056441c7d Mon Sep 17 00:00:00 2001 From: Ariiees Date: Wed, 24 Jul 2024 01:38:31 -0400 Subject: [PATCH 305/306] rework the comments after merge the main Signed-off-by: Ariiees --- .../blockage_diagnostics_param_file.yaml | 20 - .../config/distortion_corrector.param.yaml | 5 - .../docs/blockage_diag.md | 21 +- .../docs/crop-box-filter.md | 11 +- .../docs/distortion-corrector.md | 8 - .../docs/downsample-filter.md | 30 +- .../docs/dual-return-outlier-filter.md | 26 +- .../docs/passthrough-filter.md | 10 +- .../docs/pointcloud-accumulator.md | 7 +- .../docs/radius-search-2d-outlier-filter.md | 7 +- .../docs/ring-outlier-filter.md | 17 +- .../docs/vector-map-filter.md | 7 +- .../docs/vector-map-inside-area-filter.md | 8 +- .../docs/voxel-grid-outlier-filter.md | 9 +- .../blockage_diag/blockage_diag_nodelet.hpp | 108 ---- .../concatenate_and_time_sync_nodelet.hpp | 196 -------- .../concatenate_pointclouds.hpp | 181 ------- .../crop_box_filter_nodelet.hpp | 107 ---- .../distortion_corrector.hpp | 175 ------- .../distortion_corrector_node.hpp | 76 --- .../approximate_downsample_filter_nodelet.hpp | 87 ---- .../faster_voxel_grid_downsample_filter.hpp | 99 ---- ...kup_based_voxel_grid_downsample_filter.hpp | 65 --- .../random_downsample_filter_nodelet.hpp | 85 ---- .../voxel_grid_downsample_filter_nodelet.hpp | 95 ---- .../pointcloud_preprocessor/filter.hpp | 307 ------------ .../dual_return_outlier_filter_nodelet.hpp | 98 ---- ...adius_search_2d_outlier_filter_nodelet.hpp | 59 --- .../ring_outlier_filter_nodelet.hpp | 111 ---- .../voxel_grid_outlier_filter_nodelet.hpp | 53 -- .../passthrough_filter_nodelet.hpp | 80 --- .../passthrough_filter_uint16_nodelet.hpp | 50 -- .../passthrough_filter/passthrough_uint16.hpp | 474 ------------------ .../pointcloud_accumulator_nodelet.hpp | 50 -- .../polygon_remover/polygon_remover.hpp | 70 --- .../time_synchronizer_nodelet.hpp | 191 ------- .../transform_info.hpp | 43 -- .../utility/geometry.hpp | 97 ---- .../utility/memory.hpp | 40 -- .../lanelet2_map_filter_nodelet.hpp | 100 ---- .../vector_map_inside_area_filter.hpp | 61 --- ... approximate_downsample_filter.launch.xml} | 0 .../blockage_diagnostics_node.launch.xml | 12 - ...dual_return_outlier_filter_node.launch.xml | 24 - ...nch.xml => lanelet2_map_filter.launch.xml} | 0 ...d_voxel_grid_downsample_filter.launch.xml} | 0 ....xml => pointcloud_accumulator.launch.xml} | 0 ...adius_search_2d_outlier_filter.launch.xml} | 0 .../random_downsample_filter_node.launch.xml | 21 - ...nch.xml => ring_outlier_filter.launch.xml} | 0 .../ring_passthrough_filter_node.launch.xml | 21 - ... vector_map_inside_area_filter.launch.xml} | 0 ...> voxel_grid_downsample_filter.launch.xml} | 0 ...l => voxel_grid_outlier_filter.launch.xml} | 0 54 files changed, 14 insertions(+), 3408 deletions(-) delete mode 100644 sensing/autoware_pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml delete mode 100644 sensing/autoware_pointcloud_preprocessor/config/distortion_corrector.param.yaml delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp delete mode 100644 sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp rename sensing/autoware_pointcloud_preprocessor/launch/{approximate_downsample_filter_node.launch.xml => approximate_downsample_filter.launch.xml} (100%) delete mode 100644 sensing/autoware_pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml delete mode 100644 sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml rename sensing/autoware_pointcloud_preprocessor/launch/{lanelet2_map_filter_node.launch.xml => lanelet2_map_filter.launch.xml} (100%) rename sensing/autoware_pointcloud_preprocessor/launch/{pickup_based_voxel_grid_downsample_filter_node.launch.xml => pickup_based_voxel_grid_downsample_filter.launch.xml} (100%) rename sensing/autoware_pointcloud_preprocessor/launch/{pointcloud_accumulator_node.launch.xml => pointcloud_accumulator.launch.xml} (100%) rename sensing/autoware_pointcloud_preprocessor/launch/{radius_search_2d_outlier_filter_node.launch.xml => radius_search_2d_outlier_filter.launch.xml} (100%) delete mode 100644 sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml rename sensing/autoware_pointcloud_preprocessor/launch/{ring_outlier_filter_node.launch.xml => ring_outlier_filter.launch.xml} (100%) delete mode 100644 sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml rename sensing/autoware_pointcloud_preprocessor/launch/{vector_map_inside_area_filter_node.launch.xml => vector_map_inside_area_filter.launch.xml} (100%) rename sensing/autoware_pointcloud_preprocessor/launch/{voxel_grid_downsample_filter_node.launch.xml => voxel_grid_downsample_filter.launch.xml} (100%) rename sensing/autoware_pointcloud_preprocessor/launch/{voxel_grid_outlier_filter_node.launch.xml => voxel_grid_outlier_filter.launch.xml} (100%) diff --git a/sensing/autoware_pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml b/sensing/autoware_pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml deleted file mode 100644 index 75503a3caf159..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml +++ /dev/null @@ -1,20 +0,0 @@ -/**: - ros__parameters: - blockage_ratio_threshold: 0.1 - blockage_count_threshold: 50 - blockage_buffering_frames: 2 - blockage_buffering_interval: 1 - enable_dust_diag: false - publish_debug_image: false - dust_ratio_threshold: 0.2 - dust_count_threshold: 10 - dust_kernel_size: 2 - dust_buffering_frames: 10 - dust_buffering_interval: 1 - max_distance_range: 200.0 - horizontal_resolution: 0.4 - blockage_kernel: 10 - angle_range: [0.0, 360.0] - vertical_bins: 40 - is_channel_order_top2down: true - horizontal_ring_id: 18 diff --git a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector.param.yaml deleted file mode 100644 index 7d055c5bee45f..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector.param.yaml +++ /dev/null @@ -1,5 +0,0 @@ -/**: - ros__parameters: - ## Paramters in distortion_corrector.cpp - time_stamp_field_name: "time_stamp" - use_imu: true diff --git a/sensing/autoware_pointcloud_preprocessor/docs/blockage_diag.md b/sensing/autoware_pointcloud_preprocessor/docs/blockage_diag.md index f01833651d8c0..a7e9ec3114882 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/blockage_diag.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/blockage_diag.md @@ -51,26 +51,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, ## Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json") }} - -| Name | Type | Description | -| ----------------------------- | ------ | ----------------------------------------------------------------------------------------------------------------------------- | -| `blockage_ratio_threshold` | float | The threshold of blockage area ratio.If the blockage value exceeds this threshold, the diagnostic state will be set to ERROR. | -| `blockage_count_threshold` | float | The threshold of number continuous blockage frames | -| `horizontal_ring_id` | int | The id of horizontal ring of the LiDAR | -| `angle_range` | vector | The effective range of LiDAR | -| `vertical_bins` | int | The LiDAR channel number | -| `is_channel_order_top2down` | bool | If the lidar channels are indexed from top to down | -| `blockage_buffering_frames` | int | The number of buffering about blockage detection [range:1-200] | -| `blockage_buffering_interval` | int | The interval of buffering about blockage detection | -| `dust_ratio_threshold` | float | The threshold of dusty area ratio | -| `dust_count_threshold` | int | The threshold of number continuous frames include dusty area | -| `blockage_kernel` | int | The kernel size of morphology processing the detected blockage area | -| `dust_kernel_size` | int | The kernel size of morphology processing in dusty area detection | -| `dust_buffering_frames` | int | The number of buffering about dusty area detection [range:1-200] | -| `dust_buffering_interval` | int | The interval of buffering about dusty area detection | -| `max_distance_range` | double | Maximum view range for the LiDAR | -| `horizontal_resolution` | double | The horizontal resolution of depth map image [deg/pixel] | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/blockage_diag.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md index 6b6fa0fe8b219..22778d79839bb 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md @@ -20,16 +20,7 @@ This implementation inherit `autoware::pointcloud_preprocessor::Filter` class, p ### Core Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json") }} - -| Name | Type | Default Value | Description | -| ------- | ------ | ------------- | ----------------------------------------- | -| `min_x` | double | -1.0 | x-coordinate minimum value for crop range | -| `max_x` | double | 1.0 | x-coordinate maximum value for crop range | -| `min_y` | double | -1.0 | y-coordinate minimum value for crop range | -| `max_y` | double | 1.0 | y-coordinate maximum value for crop range | -| `min_z` | double | -1.0 | z-coordinate minimum value for crop range | -| `max_z` | double | 1.0 | z-coordinate maximum value for crop range | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md b/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md index 3ec48b61940a3..ab5a07b5279bc 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md @@ -36,20 +36,12 @@ Please note that the processing time difference between the two distortion metho ### Core Parameters -<<<<<<< HEAD -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/distortion_corrector_node.schema.json") }} -======= {{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json") }} ->>>>>>> original/main ## Launch ```bash -<<<<<<< HEAD -ros2 launch pointcloud_preprocessor distortion_corrector.launch.xml -======= ros2 launch autoware_pointcloud_preprocessor distortion_corrector.launch.xml ->>>>>>> original/main ``` ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md index 2b80039cf87d4..6c1204f013987 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md @@ -36,41 +36,19 @@ These implementations inherit `autoware::pointcloud_preprocessor::Filter` class, #### Approximate Downsample Filter -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json") }} - -| Name | Type | Default Value | Description | -| -------------- | ------ | ------------- | ---------------- | -| `voxel_size_x` | double | 0.3 | voxel size x [m] | -| `voxel_size_y` | double | 0.3 | voxel size y [m] | -| `voxel_size_z` | double | 0.1 | voxel size z [m] | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json") }} ### Random Downsample Filter -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json") }} - -| Name | Type | Default Value | Description | -| ------------ | ---- | ------------- | ------------------------------- | -| `sample_num` | int | 1500 | number of indices to be sampled | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter.schema.json") }} ### Voxel Grid Downsample Filter -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json") }} - -| Name | Type | Default Value | Description | -| -------------- | ------ | ------------- | ---------------- | -| `voxel_size_x` | double | 0.3 | voxel size x [m] | -| `voxel_size_y` | double | 0.3 | voxel size y [m] | -| `voxel_size_z` | double | 0.1 | voxel size z [m] | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json") }} ### Pickup Based Voxel Grid Downsample Filter -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json") }} - -| Name | Type | Default Value | Description | -| -------------- | ------ | ------------- | ---------------- | -| `voxel_size_x` | double | 1.0 | voxel size x [m] | -| `voxel_size_y` | double | 1.0 | voxel size y [m] | -| `voxel_size_z` | double | 1.0 | voxel size z [m] | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md index 59661d71220ca..2a7d28ade0559 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -46,35 +46,11 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, ### Node Parameters -<<<<<<< HEAD -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json") }} - -This implementation inherits `pointcloud_preprocessor::Filter` class, please refer [README](../README.md). -======= This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, please refer [README](../README.md). ->>>>>>> original/main ### Core Parameters -| Name | Type | Description | -| ---------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------- | -| `vertical_bins` | int | The number of vertical bin for visibility histogram | -| `max_azimuth_diff` | float | Threshold for ring_outlier_filter | -| `weak_first_distance_ratio` | double | Threshold for ring_outlier_filter | -| `general_distance_ratio` | double | Threshold for ring_outlier_filter | -| `weak_first_local_noise_threshold` | int | The parameter for determining whether it is noise | -| `visibility_error_threshold` | float | When the percentage of white pixels in the binary histogram falls below this parameter the diagnostic status becomes ERR | -| `visibility_warn_threshold` | float | When the percentage of white pixels in the binary histogram falls below this parameter the diagnostic status becomes WARN | -| `roi_mode` | string | The name of ROI mode for switching | -| `min_azimuth_deg` | float | The left limit of azimuth for `Fixed_azimuth_ROI` mode | -| `max_azimuth_deg` | float | The right limit of azimuth for `Fixed_azimuth_ROI` mode | -| `max_distance` | float | The limit distance for for `Fixed_azimuth_ROI` mode | -| `x_max` | float | Maximum of x for `Fixed_xyz_ROI` mode | -| `x_min` | float | Minimum of x for `Fixed_xyz_ROI` mode | -| `y_max` | float | Maximum of y for `Fixed_xyz_ROI` mode | -| `y_min` | float | Minimum of y for `Fixed_xyz_ROI` mode | -| `z_max` | float | Maximum of z for `Fixed_xyz_ROI` mode | -| `z_min` | float | Minimum of z for `Fixed_xyz_ROI` mode | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md index 6b9e129021e75..1b54ecad8a1be 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md @@ -25,15 +25,7 @@ The `passthrough_filter` is a node that removes points on the outside of a range ### Core Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json") }} - -| Name | Type | Default Value | Description | -| ----------------------- | ------ | ------------- | ------------------------------------------------------ | -| `filter_limit_min` | int | 0 | minimum allowed field value | -| `filter_limit_max` | int | 127 | maximum allowed field value | -| `filter_field_name` | string | "ring" | filtering field name | -| `keep_organized` | bool | false | flag to keep indices structure | -| `filter_limit_negative` | bool | false | flag to return whether the data is inside limit or not | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/pointcloud-accumulator.md b/sensing/autoware_pointcloud_preprocessor/docs/pointcloud-accumulator.md index a76df48803cbb..7925cecba75d0 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/pointcloud-accumulator.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/pointcloud-accumulator.md @@ -24,12 +24,7 @@ The `pointcloud_accumulator` is a node that accumulates pointclouds for a given ### Core Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json") }} - -| Name | Type | Default Value | Description | -| ------------------------ | ------ | ------------- | ----------------------- | -| `accumulation_time_sec` | double | 2.0 | accumulation period [s] | -| `pointcloud_buffer_size` | int | 50 | buffer size | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md index 7ecbae3c2fe8e..17696017a1903 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md @@ -24,12 +24,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, ### Core Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/radius_search_2d_outlier_filter.schema.json") }} - -| Name | Type | Description | -| --------------- | ------ | ------------------------------------------------------------------------------------------------------------------------ | -| `min_neighbors` | int | If points in the circle centered on reference point is less than `min_neighbors`, a reference point is judged as outlier | -| `search_radius` | double | Searching number of points included in `search_radius` | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/radius_search_2d_outlier_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/ring-outlier-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/ring-outlier-filter.md index a805a0bf397fe..2955cb47a0f81 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/ring-outlier-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/ring-outlier-filter.md @@ -56,22 +56,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, ### Core Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json") }} - -| Name | Type | Default Value | Description | -| ---------------------------- | ------- | ------------- | ----------------------------------------------------------------------------------------------------------------------------- | -| `distance_ratio` | double | 1.03 | | -| `object_length_threshold` | double | 0.1 | | -| `num_points_threshold` | int | 4 | | -| `max_rings_num` | uint_16 | 128 | | -| `max_points_num_per_ring` | size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring` | -| `publish_outlier_pointcloud` | bool | false | Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments. | -| `min_azimuth_deg` | float | 0.0 | The left limit of azimuth for visibility score calculation | -| `max_azimuth_deg` | float | 360.0 | The right limit of azimuth for visibility score calculation | -| `max_distance` | float | 12.0 | The limit distance for visibility score calculation | -| `vertical_bins` | int | 128 | The number of vertical bin for visibility histogram | -| `horizontal_bins` | int | 36 | The number of horizontal bin for visibility histogram | -| `noise_threshold` | int | 2 | The threshold value for distinguishing noise from valid points in the frequency image | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md index 52623e42c7f06..61be9921bbb5c 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md @@ -23,14 +23,9 @@ The `vector_map_filter` is a node that removes points on the outside of lane by ## Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json") }} - ### Core Parameters -| Name | Type | Default Value | Description | -| -------------- | ------ | ------------- | ----------- | -| `voxel_size_x` | double | 0.04 | voxel size | -| `voxel_size_y` | double | 0.04 | voxel size | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md index 8fe0bcfe0a902..fae421d44a29e 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md @@ -33,12 +33,6 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, ### Core Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json") }} - -| Name | Type | Description | -| -------------- | ------ | --------------------------- | -| `polygon_type` | string | polygon type to be filtered | -| `use_z` | bool | use z value for filtering | -| `z_threshold` | float | z threshold for filtering | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md index d9c3f4f0679da..8d8cb0cde26df 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md @@ -23,14 +23,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, ### Core Parameters -{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json") }} - -| Name | Type | Default Value | Description | -| ------------------------ | ------ | ------------- | ------------------------------------------ | -| `voxel_size_x` | double | 0.3 | the voxel size along x-axis [m] | -| `voxel_size_y` | double | 0.3 | the voxel size along y-axis [m] | -| `voxel_size_z` | double | 0.1 | the voxel size along z-axis [m] | -| `voxel_points_threshold` | int | 2 | the minimum number of points in each voxel | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp deleted file mode 100644 index 18f6c3851866d..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp +++ /dev/null @@ -1,108 +0,0 @@ -// Copyright 2022 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__BLOCKAGE_DIAG__BLOCKAGE_DIAG_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__BLOCKAGE_DIAG__BLOCKAGE_DIAG_NODELET_HPP_ - -#include "autoware/pointcloud_preprocessor/filter.hpp" - -#include -#include -#include -#include - -#include -#include -#include -#include - -#if __has_include() -#include -#else -#include -#endif - -#include - -#include -#include - -namespace autoware::pointcloud_preprocessor -{ -using diagnostic_updater::DiagnosticStatusWrapper; -using diagnostic_updater::Updater; - -class BlockageDiagComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - image_transport::Publisher lidar_depth_map_pub_; - image_transport::Publisher blockage_mask_pub_; - image_transport::Publisher single_frame_dust_mask_pub; - image_transport::Publisher multi_frame_dust_mask_pub; - image_transport::Publisher blockage_dust_merged_pub; - rclcpp::Publisher::SharedPtr ground_blockage_ratio_pub_; - rclcpp::Publisher::SharedPtr sky_blockage_ratio_pub_; - rclcpp::Publisher::SharedPtr ground_dust_ratio_pub_; - rclcpp::Publisher::SharedPtr blockage_type_pub_; - -private: - void onBlockageChecker(DiagnosticStatusWrapper & stat); - void dustChecker(DiagnosticStatusWrapper & stat); - Updater updater_{this}; - int vertical_bins_; - std::vector angle_range_deg_; - int horizontal_ring_id_; - float blockage_ratio_threshold_; - float dust_ratio_threshold_; - float ground_blockage_ratio_ = -1.0f; - float sky_blockage_ratio_ = -1.0f; - float ground_dust_ratio_ = -1.0f; - std::vector ground_blockage_range_deg_ = {0.0f, 0.0f}; - std::vector sky_blockage_range_deg_ = {0.0f, 0.0f}; - int blockage_kernel_ = 10; - int blockage_frame_count_ = 0; - int ground_blockage_count_ = 0; - int sky_blockage_count_ = 0; - int blockage_count_threshold_; - bool is_channel_order_top2down_; - int blockage_buffering_frames_; - int blockage_buffering_interval_; - bool enable_dust_diag_; - bool publish_debug_image_; - int dust_kernel_size_; - int dust_buffering_frames_; - int dust_buffering_interval_; - int dust_buffering_frame_counter_ = 0; - int dust_count_threshold_; - int dust_frame_count_ = 0; - double max_distance_range_{200.0}; - double horizontal_resolution_{0.4}; - boost::circular_buffer no_return_mask_buffer{1}; - boost::circular_buffer dust_mask_buffer{1}; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit BlockageDiagComponent(const rclcpp::NodeOptions & options); -}; - -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__BLOCKAGE_DIAG__BLOCKAGE_DIAG_NODELET_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp deleted file mode 100644 index 2443e45fe4c63..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp +++ /dev/null @@ -1,196 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2009, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: concatenate_data.cpp 35231 2011-01-14 05:33:20Z rusu $ - * - */ - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__CONCATENATE_DATA__CONCATENATE_AND_TIME_SYNC_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__CONCATENATE_DATA__CONCATENATE_AND_TIME_SYNC_NODELET_HPP_ - -#include -#include -#include -#include -#include -#include -#include - -// ROS includes -#include "autoware_point_types/types.hpp" - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -namespace autoware::pointcloud_preprocessor -{ -using autoware_point_types::PointXYZIRC; -using point_cloud_msg_wrapper::PointCloud2Modifier; - -/** \brief @b PointCloudConcatenateDataSynchronizerComponent is a special form of data - * synchronizer: it listens for a set of input PointCloud messages on the same topic, - * checks their timestamps, and concatenates their fields together into a single - * PointCloud output message. - * \author Radu Bogdan Rusu - */ -class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node -{ -public: - typedef sensor_msgs::msg::PointCloud2 PointCloud2; - - /** \brief constructor. */ - explicit PointCloudConcatenateDataSynchronizerComponent(const rclcpp::NodeOptions & node_options); - - /** \brief constructor. - * \param queue_size the maximum queue size - */ - PointCloudConcatenateDataSynchronizerComponent( - const rclcpp::NodeOptions & node_options, int queue_size); - - /** \brief Empty destructor. */ - virtual ~PointCloudConcatenateDataSynchronizerComponent() {} - -private: - /** \brief The output PointCloud publisher. */ - rclcpp::Publisher::SharedPtr pub_output_; - /** \brief Delay Compensated PointCloud publisher*/ - std::map::SharedPtr> - transformed_raw_pc_publisher_map_; - - /** \brief The maximum number of messages that we can store in the queue. */ - int maximum_queue_size_ = 3; - - double timeout_sec_ = 0.1; - - bool publish_synchronized_pointcloud_; - bool keep_input_frame_in_synchronized_pointcloud_; - std::string synchronized_pointcloud_postfix_; - - std::set not_subscribed_topic_names_; - - /** \brief A vector of subscriber. */ - std::vector::SharedPtr> filters_; - - rclcpp::Subscription::SharedPtr sub_twist_; - rclcpp::Subscription::SharedPtr sub_odom_; - - rclcpp::TimerBase::SharedPtr timer_; - diagnostic_updater::Updater updater_{this}; - - const std::string input_twist_topic_type_; - - /** \brief Output TF frame the concatenated points should be transformed to. */ - std::string output_frame_; - - /** \brief Input point cloud topics. */ - // XmlRpc::XmlRpcValue input_topics_; - std::vector input_topics_; - - /** \brief TF listener object. */ - std::shared_ptr tf2_buffer_; - std::shared_ptr tf2_listener_; - - std::deque twist_ptr_queue_; - - std::map cloud_stdmap_; - std::map cloud_stdmap_tmp_; - std::mutex mutex_; - - std::vector input_offset_; - std::map offset_map_; - - void transformPointCloud(const PointCloud2::ConstSharedPtr & in, PointCloud2::SharedPtr & out); - Eigen::Matrix4f computeTransformToAdjustForOldTimestamp( - const rclcpp::Time & old_stamp, const rclcpp::Time & new_stamp); - std::map combineClouds( - sensor_msgs::msg::PointCloud2::SharedPtr & concat_cloud_ptr); - void publish(); - - void convertToXYZIRCCloud( - const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, - sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr); - void setPeriod(const int64_t new_period); - void cloud_callback( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_ptr, - const std::string & topic_name); - void twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr input); - void odom_callback(const nav_msgs::msg::Odometry::ConstSharedPtr input); - void timer_callback(); - - void checkConcatStatus(diagnostic_updater::DiagnosticStatusWrapper & stat); - std::string replaceSyncTopicNamePostfix( - const std::string & original_topic_name, const std::string & postfix); - - /** \brief processing time publisher. **/ - std::unique_ptr> stop_watch_ptr_; - std::unique_ptr debug_publisher_; -}; - -} // namespace autoware::pointcloud_preprocessor - -// clang-format off -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__CONCATENATE_DATA__CONCATENATE_AND_TIME_SYNC_NODELET_HPP_ // NOLINT -// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp deleted file mode 100644 index 36b1910a4d798..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp +++ /dev/null @@ -1,181 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2009, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: concatenate_data.cpp 35231 2011-01-14 05:33:20Z rusu $ - * - */ - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__CONCATENATE_DATA__CONCATENATE_POINTCLOUDS_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__CONCATENATE_DATA__CONCATENATE_POINTCLOUDS_HPP_ - -#include -#include -#include -#include -#include -#include -#include - -// ROS includes -#include "autoware_point_types/types.hpp" - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -namespace autoware::pointcloud_preprocessor -{ -using autoware_point_types::PointXYZIRC; -using point_cloud_msg_wrapper::PointCloud2Modifier; -/** \brief @b PointCloudConcatenationComponent is a special form of data - * synchronizer: it listens for a set of input PointCloud messages on the same topic, - * checks their timestamps, and concatenates their fields together into a single - * PointCloud output message. - * \author Radu Bogdan Rusu - */ -class PointCloudConcatenationComponent : public rclcpp::Node -{ -public: - typedef sensor_msgs::msg::PointCloud2 PointCloud2; - - /** \brief constructor. */ - explicit PointCloudConcatenationComponent(const rclcpp::NodeOptions & node_options); - - /** \brief constructor. - * \param queue_size the maximum queue size - */ - PointCloudConcatenationComponent(const rclcpp::NodeOptions & node_options, int queue_size); - - /** \brief Empty destructor. */ - virtual ~PointCloudConcatenationComponent() {} - -private: - /** \brief The output PointCloud publisher. */ - rclcpp::Publisher::SharedPtr pub_output_; - /** \brief Delay Compensated PointCloud publisher*/ - std::map::SharedPtr> - transformed_raw_pc_publisher_map_; - - /** \brief The maximum number of messages that we can store in the queue. */ - int maximum_queue_size_ = 3; - - double timeout_sec_ = 0.1; - - std::set not_subscribed_topic_names_; - - /** \brief A vector of subscriber. */ - std::vector::SharedPtr> filters_; - - rclcpp::Subscription::SharedPtr sub_twist_; - - rclcpp::TimerBase::SharedPtr timer_; - diagnostic_updater::Updater updater_{this}; - - /** \brief Output TF frame the concatenated points should be transformed to. */ - std::string output_frame_; - - /** \brief Input point cloud topics. */ - // XmlRpc::XmlRpcValue input_topics_; - std::vector input_topics_; - - /** \brief TF listener object. */ - std::shared_ptr tf2_buffer_; - std::shared_ptr tf2_listener_; - - std::deque twist_ptr_queue_; - - std::map cloud_stdmap_; - std::map cloud_stdmap_tmp_; - std::mutex mutex_; - - std::vector input_offset_; - std::map offset_map_; - - void transformPointCloud(const PointCloud2::ConstSharedPtr & in, PointCloud2::SharedPtr & out); - void transformPointCloud( - const PointCloud2::ConstSharedPtr & in, PointCloud2::SharedPtr & out, - const std::string & target_frame); - void checkSyncStatus(); - void combineClouds(sensor_msgs::msg::PointCloud2::SharedPtr & concat_cloud_ptr); - void publish(); - - void convertToXYZIRCCloud( - const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, - sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr); - void setPeriod(const int64_t new_period); - void cloud_callback( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_ptr, - const std::string & topic_name); - void timer_callback(); - - void checkConcatStatus(diagnostic_updater::DiagnosticStatusWrapper & stat); - - /** \brief processing time publisher. **/ - std::unique_ptr> stop_watch_ptr_; - std::unique_ptr debug_publisher_; -}; - -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__CONCATENATE_DATA__CONCATENATE_POINTCLOUDS_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp deleted file mode 100644 index 09b5c7fd5f5fa..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp +++ /dev/null @@ -1,107 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -/* - * - * Software License Agreement (BSD License) - * - * Copyright (c) 2010, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: cropbox.cpp - * - */ - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ - -#include "autoware/pointcloud_preprocessor/filter.hpp" -#include "autoware/pointcloud_preprocessor/transform_info.hpp" - -#include - -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class CropBoxFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - - // TODO(sykwer): Temporary Implementation: Remove this interface when all the filter nodes conform - // to new API - virtual void faster_filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, - const TransformInfo & transform_info); - - void publishCropBoxPolygon(); - -private: - struct CropBoxParam - { - float min_x; - float max_x; - float min_y; - float max_y; - float min_z; - float max_z; - bool negative{false}; - } param_; - - rclcpp::Publisher::SharedPtr crop_box_polygon_pub_; - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit CropBoxFilterComponent(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp deleted file mode 100644 index e37329a9a4cc3..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp +++ /dev/null @@ -1,175 +0,0 @@ -// Copyright 2024 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_HPP_ -#define POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_HPP_ - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include -#include - -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif - -#include -#include -#include - -#include -#include -#include - -namespace pointcloud_preprocessor -{ - -class DistortionCorrectorBase -{ -public: - virtual bool pointcloud_transform_exists() = 0; - virtual bool pointcloud_transform_needed() = 0; - virtual std::deque get_twist_queue() = 0; - virtual std::deque get_angular_velocity_queue() = 0; - - virtual void processTwistMessage( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) = 0; - virtual void processIMUMessage( - const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) = 0; - virtual void setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) = 0; - virtual void initialize() = 0; - virtual void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) = 0; -}; - -template -class DistortionCorrector : public DistortionCorrectorBase -{ -protected: - geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr_; - bool pointcloud_transform_needed_{false}; - bool pointcloud_transform_exists_{false}; - bool imu_transform_exists_{false}; - rclcpp::Node * node_; - tf2_ros::Buffer tf_buffer_; - tf2_ros::TransformListener tf_listener_; - - std::deque twist_queue_; - std::deque angular_velocity_queue_; - - void getIMUTransformation(const std::string & base_frame, const std::string & imu_frame); - void enqueueIMU(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); - void getTwistAndIMUIterator( - bool use_imu, double first_point_time_stamp_sec, - std::deque::iterator & it_twist, - std::deque::iterator & it_imu); - void warnIfTimestampIsTooLate(bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late); - void undistortPoint( - sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, - sensor_msgs::PointCloud2Iterator & it_z, - std::deque::iterator & it_twist, - std::deque::iterator & it_imu, float const & time_offset, - const bool & is_twist_valid, const bool & is_imu_valid) - { - static_cast(this)->undistortPointImplementation( - it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); - }; - -public: - explicit DistortionCorrector(rclcpp::Node * node) - : node_(node), tf_buffer_(node_->get_clock()), tf_listener_(tf_buffer_) - { - } - bool pointcloud_transform_exists(); - bool pointcloud_transform_needed(); - std::deque get_twist_queue(); - std::deque get_angular_velocity_queue(); - void processTwistMessage( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) override; - - void processIMUMessage( - const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) override; - void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) override; - bool isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud); -}; - -class DistortionCorrector2D : public DistortionCorrector -{ -private: - // defined outside of for loop for performance reasons. - tf2::Quaternion baselink_quat_; - tf2::Transform baselink_tf_odom_; - tf2::Vector3 point_tf_; - tf2::Vector3 undistorted_point_tf_; - float theta_; - float x_; - float y_; - - // TF - tf2::Transform tf2_lidar_to_base_link_; - tf2::Transform tf2_base_link_to_lidar_; - -public: - explicit DistortionCorrector2D(rclcpp::Node * node) : DistortionCorrector(node) {} - void initialize() override; - void undistortPointImplementation( - sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, - sensor_msgs::PointCloud2Iterator & it_z, - std::deque::iterator & it_twist, - std::deque::iterator & it_imu, const float & time_offset, - const bool & is_twist_valid, const bool & is_imu_valid); - - void setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) override; -}; - -class DistortionCorrector3D : public DistortionCorrector -{ -private: - // defined outside of for loop for performance reasons. - Eigen::Vector4f point_eigen_; - Eigen::Vector4f undistorted_point_eigen_; - Eigen::Matrix4f transformation_matrix_; - Eigen::Matrix4f prev_transformation_matrix_; - - // TF - Eigen::Matrix4f eigen_lidar_to_base_link_; - Eigen::Matrix4f eigen_base_link_to_lidar_; - -public: - explicit DistortionCorrector3D(rclcpp::Node * node) : DistortionCorrector(node) {} - void initialize() override; - void undistortPointImplementation( - sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, - sensor_msgs::PointCloud2Iterator & it_z, - std::deque::iterator & it_twist, - std::deque::iterator & it_imu, const float & time_offset, - const bool & is_twist_valid, const bool & is_imu_valid); - void setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) override; -}; - -} // namespace pointcloud_preprocessor - -#endif // POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp deleted file mode 100644 index 78cdb80838678..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp +++ /dev/null @@ -1,76 +0,0 @@ -// Copyright 2024 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp -#ifndef POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ -#define POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ - -#include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" -======== -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ - -#include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp - -#include -#include -#include - -#include -#include -#include -#include - -#include -#include - -namespace autoware::pointcloud_preprocessor -{ -using rcl_interfaces::msg::SetParametersResult; -using sensor_msgs::msg::PointCloud2; - -class DistortionCorrectorComponent : public rclcpp::Node -{ -public: - explicit DistortionCorrectorComponent(const rclcpp::NodeOptions & options); - -private: - rclcpp::Subscription::SharedPtr twist_sub_; - rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription::SharedPtr pointcloud_sub_; - - rclcpp::Publisher::SharedPtr undistorted_pointcloud_pub_; - - std::unique_ptr> stop_watch_ptr_; - std::unique_ptr debug_publisher_; - - std::string base_frame_; - bool use_imu_; - bool use_3d_distortion_correction_; - - std::unique_ptr distortion_corrector_; - - void onPointCloud(PointCloud2::UniquePtr points_msg); - void onTwist(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); - void onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); -}; - -} // namespace autoware::pointcloud_preprocessor - -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp -#endif // POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ -======== -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp deleted file mode 100644 index d5d2750442a2f..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp +++ /dev/null @@ -1,87 +0,0 @@ -// Copyright 2020 Tier IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2009, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: voxel_grid.cpp 35876 2011-02-09 01:04:36Z rusu $ - * - */ -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__APPROXIMATE_DOWNSAMPLE_FILTER_NODELET_HPP_ // NOLINT -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__APPROXIMATE_DOWNSAMPLE_FILTER_NODELET_HPP_ // NOLINT - -#include "autoware/pointcloud_preprocessor/filter.hpp" - -#include - -#include -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class ApproximateDownsampleFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; - - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -private: - double voxel_size_x_; - double voxel_size_y_; - double voxel_size_z_; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit ApproximateDownsampleFilterComponent(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -// clang-format off -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__APPROXIMATE_DOWNSAMPLE_FILTER_NODELET_HPP_ // NOLINT -// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp deleted file mode 100644 index 89d6ea51a7283..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp +++ /dev/null @@ -1,99 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#pragma once - -#include "autoware/pointcloud_preprocessor/transform_info.hpp" - -#include -#include -#include - -#include -#include - -namespace autoware::pointcloud_preprocessor -{ - -class FasterVoxelGridDownsampleFilter -{ - using PointCloud2 = sensor_msgs::msg::PointCloud2; - using PointCloud2ConstPtr = sensor_msgs::msg::PointCloud2::ConstSharedPtr; - -public: - FasterVoxelGridDownsampleFilter(); - void set_voxel_size(float voxel_size_x, float voxel_size_y, float voxel_size_z); - void set_field_offsets(const PointCloud2ConstPtr & input, const rclcpp::Logger & logger); - void filter( - const PointCloud2ConstPtr & input, PointCloud2 & output, const TransformInfo & transform_info, - const rclcpp::Logger & logger); - -private: - struct Centroid - { - float x; - float y; - float z; - float intensity; - uint32_t point_count_; - - Centroid() : x(0), y(0), z(0), intensity(0) {} - Centroid(float _x, float _y, float _z, float _intensity) - : x(_x), y(_y), z(_z), intensity(_intensity) - { - this->point_count_ = 1; - } - - void add_point(float _x, float _y, float _z, float _intensity) - { - this->x += _x; - this->y += _y; - this->z += _z; - this->intensity += _intensity; - this->point_count_++; - } - - Eigen::Vector4f calc_centroid() const - { - Eigen::Vector4f centroid( - (this->x / this->point_count_), (this->y / this->point_count_), - (this->z / this->point_count_), (this->intensity / this->point_count_)); - return centroid; - } - }; - - Eigen::Vector3f inverse_voxel_size_; - int x_offset_; - int y_offset_; - int z_offset_; - int intensity_index_; - int intensity_offset_; - bool offset_initialized_; - - Eigen::Vector4f get_point_from_global_offset( - const PointCloud2ConstPtr & input, size_t global_offset); - - bool get_min_max_voxel( - const PointCloud2ConstPtr & input, Eigen::Vector3i & min_voxel, Eigen::Vector3i & max_voxel); - - std::unordered_map calc_centroids_each_voxel( - const PointCloud2ConstPtr & input, const Eigen::Vector3i & max_voxel, - const Eigen::Vector3i & min_voxel); - - void copy_centroids_to_output( - std::unordered_map & voxel_centroid_map, PointCloud2 & output, - const TransformInfo & transform_info); -}; - -} // namespace autoware::pointcloud_preprocessor diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp deleted file mode 100644 index 9a1f2780be11b..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp +++ /dev/null @@ -1,65 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__PICKUP_BASED_VOXEL_GRID_DOWNSAMPLE_FILTER_HPP_ // NOLINT -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__PICKUP_BASED_VOXEL_GRID_DOWNSAMPLE_FILTER_HPP_ // NOLINT - -#include "autoware/pointcloud_preprocessor/filter.hpp" - -#include - -#include -#include - -#include -#include -#include - -namespace autoware::pointcloud_preprocessor -{ -/** - * @class PickupBasedVoxelGridDownsampleFilterComponent - * @brief A filter component for downsampling point clouds using a voxel grid approach. - * - * This component reduces the number of points in a point cloud by grouping them into voxels - * and picking a representative point for each voxel. It's useful for reducing computational - * load when processing large point clouds. - */ -class PickupBasedVoxelGridDownsampleFilterComponent -: public autoware::pointcloud_preprocessor::Filter -{ -protected: - void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; - -private: - float voxel_size_x_; ///< The size of the voxel in the x dimension. - float voxel_size_y_; ///< The size of the voxel in the y dimension. - float voxel_size_z_; ///< The size of the voxel in the z dimension. - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit PickupBasedVoxelGridDownsampleFilterComponent(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -// clang-format off -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__PICKUP_BASED_VOXEL_GRID_DOWNSAMPLE_FILTER_HPP_ // NOLINT -// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp deleted file mode 100644 index f820793fb86f8..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp +++ /dev/null @@ -1,85 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2009, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: voxel_grid.cpp 35876 2011-02-09 01:04:36Z rusu $ - * - */ - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODELET_HPP_ - -#include "autoware/pointcloud_preprocessor/filter.hpp" - -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class RandomDownsampleFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; - -private: - size_t sample_num_; - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit RandomDownsampleFilterComponent(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -// clang-format off -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODELET_HPP_ // NOLINT -// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp deleted file mode 100644 index 1af2eb5b04552..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp +++ /dev/null @@ -1,95 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2009, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: voxel_grid.cpp 35876 2011-02-09 01:04:36Z rusu $ - * - */ - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__VOXEL_GRID_DOWNSAMPLE_FILTER_NODELET_HPP_ // NOLINT -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__VOXEL_GRID_DOWNSAMPLE_FILTER_NODELET_HPP_ // NOLINT - -#include "autoware/pointcloud_preprocessor/filter.hpp" -#include "autoware/pointcloud_preprocessor/transform_info.hpp" - -#include -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class VoxelGridDownsampleFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; - - // TODO(atsushi421): Temporary Implementation: Remove this interface when all the filter nodes - // conform to new API - virtual void faster_filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, - const TransformInfo & transform_info); - -private: - float voxel_size_x_; - float voxel_size_y_; - float voxel_size_z_; - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit VoxelGridDownsampleFilterComponent(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -// clang-format off -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__VOXEL_GRID_DOWNSAMPLE_FILTER_NODELET_HPP_ // NOLINT -// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp deleted file mode 100644 index a6e113412231a..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp +++ /dev/null @@ -1,307 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2009, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: filter.h 35876 2011-02-09 01:04:36Z rusu $ - * - */ - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__FILTER_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__FILTER_HPP_ - -#include "autoware/pointcloud_preprocessor/transform_info.hpp" - -#include -#include -#include - -// PCL includes -#include - -#include -#include -// PCL includes -#include -#include -#include -#include -#include -#include -#include -#include -#include - -// Include TF -#include -#include -#include - -// Include tier4 autoware utils -#include -#include -#include - -namespace autoware::pointcloud_preprocessor -{ -namespace sync_policies = message_filters::sync_policies; - -/** \brief For parameter service callback */ -template -bool get_param(const std::vector & p, const std::string & name, T & value) -{ - auto it = std::find_if(p.cbegin(), p.cend(), [&name](const rclcpp::Parameter & parameter) { - return parameter.get_name() == name; - }); - if (it != p.cend()) { - value = it->template get_value(); - return true; - } - return false; -} - -/** \brief @b Filter represents the base filter class. Some generic 3D operations that are - * applicable to all filters are defined here as static methods. \author Radu Bogdan Rusu - */ -class Filter : public rclcpp::Node -{ -public: - using PointCloud2 = sensor_msgs::msg::PointCloud2; - using PointCloud2ConstPtr = sensor_msgs::msg::PointCloud2::ConstSharedPtr; - - using PointCloud = pcl::PointCloud; - using PointCloudPtr = PointCloud::Ptr; - using PointCloudConstPtr = PointCloud::ConstPtr; - - using PointIndices = pcl_msgs::msg::PointIndices; - using PointIndicesPtr = PointIndices::SharedPtr; - using PointIndicesConstPtr = PointIndices::ConstSharedPtr; - - using ModelCoefficients = pcl_msgs::msg::ModelCoefficients; - using ModelCoefficientsPtr = ModelCoefficients::SharedPtr; - using ModelCoefficientsConstPtr = ModelCoefficients::ConstSharedPtr; - - using IndicesPtr = pcl::IndicesPtr; - using IndicesConstPtr = pcl::IndicesConstPtr; - - using ExactTimeSyncPolicy = - message_filters::Synchronizer>; - using ApproximateTimeSyncPolicy = - message_filters::Synchronizer>; - - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit Filter( - const std::string & filter_name = "pointcloud_preprocessor_filter", - const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); - -protected: - /** \brief The input PointCloud2 subscriber. */ - rclcpp::Subscription::SharedPtr sub_input_; - - /** \brief The output PointCloud2 publisher. */ - rclcpp::Publisher::SharedPtr pub_output_; - - /** \brief The message filter subscriber for PointCloud2. */ - message_filters::Subscriber sub_input_filter_; - - /** \brief The message filter subscriber for PointIndices. */ - message_filters::Subscriber sub_indices_filter_; - - /** \brief The desired user filter field name. */ - std::string filter_field_name_; - - /** \brief The minimum allowed filter value a point will be considered from. */ - double filter_limit_min_; - - /** \brief The maximum allowed filter value a point will be considered from. */ - double filter_limit_max_; - - /** \brief Set to true if we want to return the data outside (\a filter_limit_min_;\a - * filter_limit_max_). Default: false. */ - bool filter_limit_negative_; - - /** \brief The input TF frame the data should be transformed into, - * if input.header.frame_id is different. */ - std::string tf_input_frame_; - - /** \brief The original data input TF frame. */ - std::string tf_input_orig_frame_; - - /** \brief The output TF frame the data should be transformed into, - * if input.header.frame_id is different. */ - std::string tf_output_frame_; - - /** \brief Internal mutex. */ - std::mutex mutex_; - - /** \brief processing time publisher. **/ - std::unique_ptr> stop_watch_ptr_; - std::unique_ptr debug_publisher_; - std::unique_ptr published_time_publisher_; - - /** \brief Virtual abstract filter method. To be implemented by every child. - * \param input the input point cloud dataset. - * \param indices a pointer to the vector of point indices to use. - * \param output the resultant filtered PointCloud2 - */ - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) = 0; - - // TODO(sykwer): Temporary Implementation: Remove this interface when all the filter nodes conform - // to new API. It's not pure virtual function so that a child class does not have to implement - // this function. - virtual void faster_filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, - const TransformInfo & transform_info); // != 0 - - /** \brief Lazy transport subscribe routine. */ - virtual void subscribe(const std::string & filter_name); - virtual void subscribe(); - - /** \brief Lazy transport unsubscribe routine. */ - virtual void unsubscribe(); - - /** \brief Call the child filter () method, optionally transform the result, and publish it. - * \param input the input point cloud dataset. - * \param indices a pointer to the vector of point indices to use. - */ - void computePublish(const PointCloud2ConstPtr & input, const IndicesPtr & indices); - - ////////////////////// - // from PCLNodelet // - ////////////////////// - /** \brief Set to true if point indices are used. - * - * When receiving a point cloud, if use_indices_ is false, the entire - * point cloud is processed for the given operation. If use_indices_ is - * true, then the ~indices topic is read to get the vector of point - * indices specifying the subset of the point cloud that will be used for - * the operation. In the case where use_indices_ is true, the ~input and - * ~indices topics must be synchronised in time, either exact or within a - * specified jitter. See also @ref latched_indices_ and approximate_sync. - **/ - bool use_indices_ = false; - /** \brief Set to true if the indices topic is latched. - * - * If use_indices_ is true, the ~input and ~indices topics generally must - * be synchronised in time. By setting this flag to true, the most recent - * value from ~indices can be used instead of requiring a synchronised - * message. - **/ - bool latched_indices_ = false; - - /** \brief The maximum queue size (default: 3). */ - size_t max_queue_size_ = 3; - - /** \brief True if we use an approximate time synchronizer - * versus an exact one (false by default). */ - bool approximate_sync_ = false; - - std::shared_ptr tf_buffer_; - std::shared_ptr tf_listener_; - - inline bool isValid( - const PointCloud2ConstPtr & cloud, const std::string & /*topic_name*/ = "input") - { - if (cloud->width * cloud->height * cloud->point_step != cloud->data.size()) { - RCLCPP_WARN( - this->get_logger(), - "Invalid PointCloud (data = %zu, width = %d, height = %d, step = %d) with stamp %f, " - "and frame %s received!", - cloud->data.size(), cloud->width, cloud->height, cloud->point_step, - rclcpp::Time(cloud->header.stamp).seconds(), cloud->header.frame_id.c_str()); - return false; - } - return true; - } - - inline bool isValid( - const PointIndicesConstPtr & /*indices*/, const std::string & /*topic_name*/ = "indices") - { - return true; - } - - inline bool isValid( - const ModelCoefficientsConstPtr & /*model*/, const std::string & /*topic_name*/ = "model") - { - return true; - } - -private: - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_filter_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult filterParamCallback( - const std::vector & p); - - /** \brief Synchronized input, and indices.*/ - std::shared_ptr sync_input_indices_e_; - std::shared_ptr sync_input_indices_a_; - - /** \brief PointCloud2 + Indices data callback. */ - void input_indices_callback(const PointCloud2ConstPtr cloud, const PointIndicesConstPtr indices); - - /** \brief Get a matrix for conversion from the original frame to the target frame */ - bool calculate_transform_matrix( - const std::string & target_frame, const sensor_msgs::msg::PointCloud2 & from, - TransformInfo & transform_info /*output*/); - - bool _calculate_transform_matrix( - const std::string & target_frame, const sensor_msgs::msg::PointCloud2 & from, - const tf2_ros::Buffer & tf_buffer, Eigen::Matrix4f & eigen_transform /*output*/); - - bool convert_output_costly(std::unique_ptr & output); - - // TODO(sykwer): Temporary Implementation: Remove this interface when all the filter nodes conform - // to new API. - void faster_input_indices_callback( - const PointCloud2ConstPtr cloud, const PointIndicesConstPtr indices); - - void setupTF(); -}; -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__FILTER_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp deleted file mode 100644 index b8aba769b17a5..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ /dev/null @@ -1,98 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODELET_HPP_ - -#include "autoware/pointcloud_preprocessor/filter.hpp" - -#include -#include -#include -#include - -#include -#include -#include - -#if __has_include() -#include -#else -#include -#endif -#include -#include - -#include -#include -#include - -namespace autoware::pointcloud_preprocessor -{ -using diagnostic_updater::DiagnosticStatusWrapper; -using diagnostic_updater::Updater; - -class DualReturnOutlierFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - image_transport::Publisher image_pub_; - rclcpp::Publisher::SharedPtr visibility_pub_; - rclcpp::Publisher::SharedPtr noise_cloud_pub_; - -private: - void onVisibilityChecker(DiagnosticStatusWrapper & stat); - Updater updater_{this}; - double visibility_ = -1.0f; - double weak_first_distance_ratio_; - double general_distance_ratio_; - int weak_first_local_noise_threshold_; - double visibility_error_threshold_; - double visibility_warn_threshold_; - int vertical_bins_; - float max_azimuth_diff_; - std::string roi_mode_; - float x_max_; - float x_min_; - float y_max_; - float y_min_; - float z_max_; - float z_min_; - - float min_azimuth_deg_; - float max_azimuth_deg_; - float max_distance_; - - std::unordered_map roi_mode_map_ = { - {"No_ROI", 0}, - {"Fixed_xyz_ROI", 1}, - {"Fixed_azimuth_ROI", 2}, - }; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit DualReturnOutlierFilterComponent(const rclcpp::NodeOptions & options); -}; - -} // namespace autoware::pointcloud_preprocessor - -// clang-format off -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODELET_HPP_ // NOLINT -// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp deleted file mode 100644 index ffb737b0b9b06..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp +++ /dev/null @@ -1,59 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RADIUS_SEARCH_2D_OUTLIER_FILTER_NODELET_HPP_ // NOLINT -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RADIUS_SEARCH_2D_OUTLIER_FILTER_NODELET_HPP_ // NOLINT - -#include "autoware/pointcloud_preprocessor/filter.hpp" - -#include - -#include -#include -#include -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class RadiusSearch2DOutlierFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - -private: - double search_radius_; - size_t min_neighbors_; - - // pcl::RadiusOutlierRemoval radius_outlier_removal_; - pcl::search::Search::Ptr kd_tree_; - // pcl::ExtractIndices extract_indices_; - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit RadiusSearch2DOutlierFilterComponent(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -// clang-format off -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RADIUS_SEARCH_2D_OUTLIER_FILTER_NODELET_HPP_ // NOLINT -// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp deleted file mode 100644 index caedeac62b88a..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp +++ /dev/null @@ -1,111 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODELET_HPP_ - -#include "autoware/pointcloud_preprocessor/filter.hpp" -#include "autoware/pointcloud_preprocessor/transform_info.hpp" -#include "autoware_point_types/types.hpp" - -#include -#include - -#if __has_include() -#include -#else -#include -#endif - -#include -#include -#include -#include - -namespace autoware::pointcloud_preprocessor -{ -using point_cloud_msg_wrapper::PointCloud2Modifier; - -class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - using InputPointIndex = autoware_point_types::PointXYZIRCAEDTIndex; - using InputPointType = autoware_point_types::PointXYZIRCAEDT; - using OutputPointType = autoware_point_types::PointXYZIRC; - - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - - // TODO(sykwer): Temporary Implementation: Remove this interface when all the filter nodes conform - // to new API - virtual void faster_filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, - const TransformInfo & transform_info); - - rclcpp::Publisher::SharedPtr visibility_pub_; - -private: - /** \brief publisher of excluded pointcloud for debug reason. **/ - rclcpp::Publisher::SharedPtr outlier_pointcloud_publisher_; - - double distance_ratio_; - double object_length_threshold_; - int num_points_threshold_; - uint16_t max_rings_num_; - size_t max_points_num_per_ring_; - bool publish_outlier_pointcloud_; - - // for visibility score - int noise_threshold_; - int vertical_bins_; - int horizontal_bins_; - - float min_azimuth_deg_; - float max_azimuth_deg_; - float max_distance_; - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - - bool isCluster( - const PointCloud2ConstPtr & input, std::pair data_idx_both_ends, int walk_size) - { - if (walk_size > num_points_threshold_) return true; - - auto first_point = - reinterpret_cast(&input->data[data_idx_both_ends.first]); - auto last_point = - reinterpret_cast(&input->data[data_idx_both_ends.second]); - - const auto x = first_point->x - last_point->x; - const auto y = first_point->y - last_point->y; - const auto z = first_point->z - last_point->z; - - return x * x + y * y + z * z >= object_length_threshold_ * object_length_threshold_; - } - - void setUpPointCloudFormat( - const PointCloud2ConstPtr & input, PointCloud2 & formatted_points, size_t points_size); - float calculateVisibilityScore(const PointCloud2 & input); - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit RingOutlierFilterComponent(const rclcpp::NodeOptions & options); -}; - -} // namespace autoware::pointcloud_preprocessor -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODELET_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp deleted file mode 100644 index 4ec50c53c2393..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp +++ /dev/null @@ -1,53 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODELET_HPP_ - -#include "autoware/pointcloud_preprocessor/filter.hpp" - -#include -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class VoxelGridOutlierFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -private: - double voxel_size_x_; - double voxel_size_y_; - double voxel_size_z_; - int voxel_points_threshold_; - - pcl::VoxelGrid voxel_filter; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit VoxelGridOutlierFilterComponent(const rclcpp::NodeOptions & option); -}; -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODELET_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp deleted file mode 100644 index bbb2c0b113658..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp +++ /dev/null @@ -1,80 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2010, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: passthrough.cpp 36194 2011-02-23 07:49:21Z rusu $ - * - */ - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODELET_HPP_ - -#include "autoware/pointcloud_preprocessor/filter.hpp" - -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class PassThroughFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit PassThroughFilterComponent(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODELET_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp deleted file mode 100644 index 0ffb50dc65092..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp +++ /dev/null @@ -1,50 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODELET_HPP_ // NOLINT -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODELET_HPP_ // NOLINT - -#include "autoware/pointcloud_preprocessor/filter.hpp" -#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp" - -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class PassThroughFilterUInt16Component : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -private: - pcl::PassThroughUInt16 impl_; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit PassThroughFilterUInt16Component(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -// clang-format off -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODELET_HPP_ // NOLINT -// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp deleted file mode 100644 index 7da891f20955b..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp +++ /dev/null @@ -1,474 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2012, Willow Garage, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_UINT16_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_UINT16_HPP_ - -#include -#include - -#include -#include -#include - -namespace pcl -{ -// cspell: ignore ptfilter -/** \brief @b PassThroughUInt16 passes points in a cloud based on constraints for one particular - * field of the point type. \details Iterates through the entire input once, automatically filtering - * non-finite points and the points outside the interval specified by setFilterLimits(), which - * applies only to the field specified by setFilterFieldName().

Usage example: \code - * pcl::PassThroughUInt16 ptfilter (true); // Initializing with true will allow us to - * extract the removed indices ptfilter.setInputCloud (cloud_in); ptfilter.setFilterFieldName ("x"); - * ptfilter.setFilterLimits (0.0, 1000.0); - * ptfilter.filter (*indices_x); - * // The indices_x array indexes all points of cloud_in that have x between 0.0 and 1000.0 - * indices_rem = ptfilter.getRemovedIndices (); - * // The indices_rem array indexes all points of cloud_in that have x smaller than 0.0 or larger - * than 1000.0 - * // and also indexes all non-finite points of cloud_in - * ptfilter.setIndices (indices_x); - * ptfilter.setFilterFieldName ("z"); - * ptfilter.setFilterLimits (-10.0, 10.0); - * ptfilter.setNegative (true); - * ptfilter.filter (*indices_xz); - * // The indices_xz array indexes all points of cloud_in that have x between 0.0 and 1000.0 and z - * larger than 10.0 or smaller than -10.0 ptfilter.setIndices (indices_xz); - * ptfilter.setFilterFieldName ("intensity"); - * ptfilter.setFilterLimits (FLT_MIN, 0.5); - * ptfilter.setNegative (false); - * ptfilter.filter (*cloud_out); - * // The resulting cloud_out contains all points of cloud_in that are finite and have: - * // x between 0.0 and 1000.0, z larger than 10.0 or smaller than -10.0 and intensity smaller than - * 0.5. \endcode \author Radu Bogdan Rusu \ingroup filters - */ -template -class PassThroughUInt16 : public FilterIndices -{ -protected: - typedef typename FilterIndices::PointCloud PointCloud; - typedef typename PointCloud::Ptr PointCloudPtr; - typedef typename PointCloud::ConstPtr PointCloudConstPtr; - typedef typename pcl::traits::fieldList::type FieldList; - -public: - typedef pcl::shared_ptr> Ptr; - typedef pcl::shared_ptr> ConstPtr; - - /** \brief Constructor. - * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of - * points being removed (default = false). - */ - explicit PassThroughUInt16(bool extract_removed_indices = false) - : FilterIndices::FilterIndices(extract_removed_indices), - filter_field_name_(""), - filter_limit_min_(0), - filter_limit_max_(UINT16_MAX) - { - filter_name_ = "PassThroughUInt16"; - } - - /** \brief Provide the name of the field to be used for filtering data. - * \details In conjunction with setFilterLimits(), points having values outside this interval for - * this field will be discarded. \param[in] field_name The name of the field that will be used for - * filtering. - */ - inline void setFilterFieldName(const std::string & field_name) - { - filter_field_name_ = field_name; - } - - /** \brief Retrieve the name of the field to be used for filtering data. - * \return The name of the field that will be used for filtering. - */ - inline std::string const getFilterFieldName() { return filter_field_name_; } - - /** \brief Set the numerical limits for the field for filtering data. - * \details In conjunction with setFilterFieldName(), points having values outside this interval - * for this field will be discarded. \param[in] limit_min The minimum allowed field value (default - * = FLT_MIN). \param[in] limit_max The maximum allowed field value (default = FLT_MAX). - */ - inline void setFilterLimits(const std::uint16_t & limit_min, const std::uint16_t & limit_max) - { - filter_limit_min_ = limit_min; - filter_limit_max_ = limit_max; - } - - /** \brief Get the numerical limits for the field for filtering data. - * \param[out] limit_min The minimum allowed field value (default = FLT_MIN). - * \param[out] limit_max The maximum allowed field value (default = FLT_MAX). - */ - inline void getFilterLimits(std::uint16_t & limit_min, std::uint16_t & limit_max) - { - limit_min = filter_limit_min_; - limit_max = filter_limit_max_; - } - - /** \brief Set to true if we want to return the data outside the interval specified by - * setFilterLimits (min, max) Default: false. \warning This method will be removed in the future. - * Use setNegative() instead. \param[in] limit_negative return data inside the interval (false) or - * outside (true) - */ - inline void setFilterLimitsNegative(const bool limit_negative) { negative_ = limit_negative; } - - /** \brief Get whether the data outside the interval (min/max) is to be returned (true) or inside - * (false). \warning This method will be removed in the future. Use getNegative() instead. - * \param[out] limit_negative true if data \b outside the interval [min; max] is to be returned, - * false otherwise - */ - inline void getFilterLimitsNegative(bool & limit_negative) { limit_negative = negative_; } - - /** \brief Get whether the data outside the interval (min/max) is to be returned (true) or inside - * (false). \warning This method will be removed in the future. Use getNegative() instead. \return - * true if data \b outside the interval [min; max] is to be returned, false otherwise - */ - inline bool getFilterLimitsNegative() { return negative_; } - -protected: - using PCLBase::input_; - using PCLBase::indices_; - using Filter::filter_name_; - using Filter::getClassName; - using FilterIndices::negative_; - using FilterIndices::keep_organized_; - using FilterIndices::user_filter_value_; - using FilterIndices::extract_removed_indices_; - using FilterIndices::removed_indices_; - - /** \brief Filtered results are stored in a separate point cloud. - * \param[out] output The resultant point cloud. - */ - void applyFilter(PointCloud & output); - - /** \brief Filtered results are indexed by an indices array. - * \param[out] indices The resultant indices. - */ - void applyFilter(std::vector & indices) { applyFilterIndices(indices); } - - /** \brief Filtered results are indexed by an indices array. - * \param[out] indices The resultant indices. - */ - void applyFilterIndices(std::vector & indices); - -private: - /** \brief The name of the field that will be used for filtering. */ - std::string filter_field_name_; - - /** \brief The minimum allowed field value (default = FLT_MIN). */ - std::uint16_t filter_limit_min_; - - /** \brief The maximum allowed field value (default = FLT_MIN). */ - std::uint16_t filter_limit_max_; -}; - -//////////////////////////////////////////////////////////////////////////////////////////// -/** \brief PassThroughUInt16 uses the base Filter class methods to pass through all data that - * satisfies the user given constraints. \author Radu B. Rusu \ingroup filters - */ -template <> -class PCL_EXPORTS PassThroughUInt16 : public Filter -{ - typedef pcl::PCLPointCloud2 PCLPointCloud2; - typedef PCLPointCloud2::Ptr PCLPointCloud2Ptr; - typedef PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr; - - using Filter::removed_indices_; - using Filter::extract_removed_indices_; - -public: - /** \brief Constructor. */ - explicit PassThroughUInt16(bool extract_removed_indices = false) - : Filter::Filter(extract_removed_indices), - keep_organized_(false), - user_filter_value_(std::numeric_limits::quiet_NaN()), - filter_field_name_(""), - filter_limit_min_(0), - filter_limit_max_(UINT16_MAX), - filter_limit_negative_(false) - { - filter_name_ = "PassThroughUInt16"; - } - - /** \brief Set whether the filtered points should be kept and set to the - * value given through \a setUserFilterValue (default: NaN), or removed - * from the PointCloud, thus potentially breaking its organized - * structure. By default, points are removed. - * - * \param[in] val set to true whether the filtered points should be kept and - * set to a user given value (default: NaN) - */ - inline void setKeepOrganized(bool val) { keep_organized_ = val; } - - /** \brief Obtain the value of the internal \a keep_organized_ parameter. */ - inline bool getKeepOrganized() { return keep_organized_; } - - /** \brief Provide a value that the filtered points should be set to - * instead of removing them. Used in conjunction with \a - * setKeepOrganized (). - * \param[in] val the user given value that the filtered point dimensions should be set to - */ - inline void setUserFilterValue(float val) { user_filter_value_ = val; } - - /** \brief Provide the name of the field to be used for filtering data. In conjunction with \a - * setFilterLimits, points having values outside this interval will be discarded. \param[in] - * field_name the name of the field that contains values used for filtering - */ - inline void setFilterFieldName(const std::string & field_name) - { - filter_field_name_ = field_name; - } - - /** \brief Get the name of the field used for filtering. */ - inline std::string const getFilterFieldName() { return filter_field_name_; } - - /** \brief Set the field filter limits. All points having field values outside this interval will - * be discarded. \param[in] limit_min the minimum allowed field value \param[in] limit_max the - * maximum allowed field value - */ - inline void setFilterLimits(const std::uint16_t & limit_min, const std::uint16_t & limit_max) - { - filter_limit_min_ = limit_min; - filter_limit_max_ = limit_max; - } - - /** \brief Get the field filter limits (min/max) set by the user. The default values are -FLT_MAX, - * FLT_MAX. \param[out] limit_min the minimum allowed field value \param[out] limit_max the - * maximum allowed field value - */ - inline void getFilterLimits(std::uint16_t & limit_min, std::uint16_t & limit_max) - { - limit_min = filter_limit_min_; - limit_max = filter_limit_max_; - } - - /** \brief Set to true if we want to return the data outside the interval specified by - * setFilterLimits (min, max). Default: false. \param[in] limit_negative return data inside the - * interval (false) or outside (true) - */ - inline void setFilterLimitsNegative(const bool limit_negative) - { - filter_limit_negative_ = limit_negative; - } - - /** \brief Get whether the data outside the interval (min/max) is to be returned (true) or inside - * (false). \param[out] limit_negative true if data \b outside the interval [min; max] is to be - * returned, false otherwise - */ - inline void getFilterLimitsNegative(bool & limit_negative) - { - limit_negative = filter_limit_negative_; - } - - /** \brief Get whether the data outside the interval (min/max) is to be returned (true) or inside - * (false). \return true if data \b outside the interval [min; max] is to be returned, false - * otherwise - */ - inline bool getFilterLimitsNegative() { return filter_limit_negative_; } - -protected: - void applyFilter(PCLPointCloud2 & output); - -private: - /** \brief Keep the structure of the data organized, by setting the - * filtered points to a user given value (NaN by default). - */ - bool keep_organized_; - - /** \brief User given value to be set to any filtered point. Casted to - * the correct field type. - */ - float user_filter_value_; - - /** \brief The desired user filter field name. */ - std::string filter_field_name_; - - /** \brief The minimum allowed filter value a point will be considered from. */ - std::uint16_t filter_limit_min_; - - /** \brief The maximum allowed filter value a point will be considered from. */ - std::uint16_t filter_limit_max_; - - /** \brief Set to true if we want to return the data outside (\a filter_limit_min_;\a - * filter_limit_max_). Default: false. */ - bool filter_limit_negative_; -}; -} // namespace pcl - -template -void pcl::PassThroughUInt16::applyFilter(PointCloud & output) -{ - std::vector indices; - if (keep_organized_) { - bool temp = extract_removed_indices_; - extract_removed_indices_ = true; - applyFilterIndices(indices); - extract_removed_indices_ = temp; - - output = *input_; - for (int rii = 0; rii < static_cast(removed_indices_->size()); - ++rii) // rii = removed indices iterator - { - output.points[(*removed_indices_)[rii]].x = output.points[(*removed_indices_)[rii]].y = - output.points[(*removed_indices_)[rii]].z = user_filter_value_; - } - if (!std::isfinite(user_filter_value_)) { - output.is_dense = false; - } - } else { - output.is_dense = true; - applyFilterIndices(indices); - copyPointCloud(*input_, indices, output); - } -} - -//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -template -void pcl::PassThroughUInt16::applyFilterIndices(std::vector & indices) -{ - // The arrays to be used - indices.resize(indices_->size()); - removed_indices_->resize(indices_->size()); - int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator - - // Has a field name been specified? - if (filter_field_name_.empty()) { - // Only filter for non-finite entries then - for (int iii = 0; iii < static_cast(indices_->size()); - ++iii) // iii = input indices iterator - { - // Non-finite entries are always passed to removed indices - if ( - !std::isfinite(input_->points[(*indices_)[iii]].x) || - !std::isfinite(input_->points[(*indices_)[iii]].y) || - !std::isfinite(input_->points[(*indices_)[iii]].z)) { - if (extract_removed_indices_) { - (*removed_indices_)[rii++] = (*indices_)[iii]; - } - continue; - } - indices[oii++] = (*indices_)[iii]; - } - } else { - // Attempt to get the field name's index - std::vector fields; - int distance_idx = pcl::getFieldIndex(filter_field_name_, fields); - if (distance_idx == -1) { - PCL_WARN( - "[pcl::%s::applyFilter] Unable to find field name in point type.\n", - getClassName().c_str()); - indices.clear(); - removed_indices_->clear(); - return; - } - - // Filter for non-finite entries and the specified field limits - for (int iii = 0; iii < static_cast(indices_->size()); - ++iii) // iii = input indices iterator - { - // Non-finite entries are always passed to removed indices - if ( - !std::isfinite(input_->points[(*indices_)[iii]].x) || - !std::isfinite(input_->points[(*indices_)[iii]].y) || - !std::isfinite(input_->points[(*indices_)[iii]].z)) { - if (extract_removed_indices_) { - (*removed_indices_)[rii++] = (*indices_)[iii]; - } - continue; - } - - // Get the field's value - const std::uint8_t * pt_data = - reinterpret_cast(&input_->points[(*indices_)[iii]]); - std::uint16_t field_value = 0; - memcpy(&field_value, pt_data + fields[distance_idx].offset, sizeof(std::uint16_t)); - - // Remove NAN/INF/-INF values. We expect passthrough to output clean valid data. - if (!std::isfinite(field_value)) { - if (extract_removed_indices_) { - (*removed_indices_)[rii++] = (*indices_)[iii]; - } - continue; - } - - // Outside of the field limits are passed to removed indices - if (!negative_ && (field_value < filter_limit_min_ || field_value > filter_limit_max_)) { - if (extract_removed_indices_) { - (*removed_indices_)[rii++] = (*indices_)[iii]; - } - continue; - } - - // Inside of the field limits are passed to removed indices if negative was set - if (negative_ && field_value >= filter_limit_min_ && field_value <= filter_limit_max_) { - if (extract_removed_indices_) { - (*removed_indices_)[rii++] = (*indices_)[iii]; - } - continue; - } - - // Otherwise it was a normal point for output (inlier) - indices[oii++] = (*indices_)[iii]; - } - } - - // Resize the output arrays - indices.resize(oii); - removed_indices_->resize(rii); -} - -#define PCL_INSTANTIATE_PassThroughUInt16(T) template class PCL_EXPORTS pcl::PassThroughUInt16; - -#ifdef PCL_NO_PRECOMPILE -#include -#endif - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_UINT16_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp deleted file mode 100644 index 6646426a29b99..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp +++ /dev/null @@ -1,50 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__POINTCLOUD_ACCUMULATOR__POINTCLOUD_ACCUMULATOR_NODELET_HPP_ // NOLINT -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__POINTCLOUD_ACCUMULATOR__POINTCLOUD_ACCUMULATOR_NODELET_HPP_ // NOLINT - -#include "autoware/pointcloud_preprocessor/filter.hpp" - -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class PointcloudAccumulatorComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); - -private: - double accumulation_time_sec_; - boost::circular_buffer pointcloud_buffer_; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit PointcloudAccumulatorComponent(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -// clang-format off -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__POINTCLOUD_ACCUMULATOR__POINTCLOUD_ACCUMULATOR_NODELET_HPP_ // NOLINT -// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp deleted file mode 100644 index f52f2f306c69b..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp +++ /dev/null @@ -1,70 +0,0 @@ -// Copyright 2022 The Autoware Contributors -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__POLYGON_REMOVER__POLYGON_REMOVER_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__POLYGON_REMOVER__POLYGON_REMOVER_HPP_ - -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp -#include "pointcloud_preprocessor/filter.hpp" -#include "pointcloud_preprocessor/utility/geometry.hpp" -======== -#include "autoware/pointcloud_preprocessor/filter.hpp" -#include "autoware/pointcloud_preprocessor/utility/geometry.hpp" ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp - -#include -#include -#include - -#include -#include - -#include - -namespace autoware::pointcloud_preprocessor -{ -class PolygonRemoverComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - - void publishRemovedPolygon(); - - void update_polygon(const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in); - static PolygonCgal polygon_geometry_to_cgal( - const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in); - PointCloud2 remove_updated_polygon_from_cloud(const PointCloud2ConstPtr & cloud_in); - PointCloud2 remove_polygon_cgal_from_cloud( - const PointCloud2::ConstSharedPtr & cloud_in_ptr, const PolygonCgal & polyline_polygon); - -private: - rclcpp::Parameter param; - std::vector polygon_vertices_; - geometry_msgs::msg::Polygon::SharedPtr polygon_; - - bool polygon_is_initialized_; - bool will_visualize_; - PolygonCgal polygon_cgal_; - visualization_msgs::msg::Marker marker_; - - rclcpp::Publisher::SharedPtr pub_marker_ptr_; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit PolygonRemoverComponent(const rclcpp::NodeOptions & options); -}; -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__POLYGON_REMOVER__POLYGON_REMOVER_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp deleted file mode 100644 index 00704b20b85ef..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp +++ /dev/null @@ -1,191 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2009, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: TIME_SYNCHRONIZER.cpp 35231 2011-01-14 05:33:20Z rusu $ - * - */ - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODELET_HPP_ - -#include -#include -#include -#include -#include -#include -#include - -// ROS includes -#include "autoware_point_types/types.hpp" - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -namespace autoware::pointcloud_preprocessor -{ -using autoware_point_types::PointXYZIRC; -using point_cloud_msg_wrapper::PointCloud2Modifier; -// cspell:ignore Yoshi -/** \brief @b PointCloudDataSynchronizerComponent is a special form of data - * synchronizer: it listens for a set of input PointCloud messages on the same topic, - * checks their timestamps, and concatenates their fields together into a single - * PointCloud output message. - * \author Radu Bogdan Rusu - * \edited by Yoshi Ri - */ -class PointCloudDataSynchronizerComponent : public rclcpp::Node -{ -public: - typedef sensor_msgs::msg::PointCloud2 PointCloud2; - - /** \brief constructor. */ - explicit PointCloudDataSynchronizerComponent(const rclcpp::NodeOptions & node_options); - - /** \brief constructor. - * \param queue_size the maximum queue size - */ - PointCloudDataSynchronizerComponent(const rclcpp::NodeOptions & node_options, int queue_size); - - /** \brief Empty destructor. */ - virtual ~PointCloudDataSynchronizerComponent() {} - -private: - /** \brief Delay Compensated PointCloud publisher*/ - std::map::SharedPtr> - transformed_raw_pc_publisher_map_; - - /** \brief The maximum number of messages that we can store in the queue. */ - int maximum_queue_size_ = 3; - - double timeout_sec_ = 0.1; - - std::set not_subscribed_topic_names_; - - /** \brief A vector of subscriber. */ - std::vector::SharedPtr> filters_; - - rclcpp::Subscription::SharedPtr sub_twist_; - rclcpp::Subscription::SharedPtr sub_odom_; - - rclcpp::TimerBase::SharedPtr timer_; - diagnostic_updater::Updater updater_{this}; - - const std::string input_twist_topic_type_; - - /** \brief Output TF frame the concatenated points should be transformed to. */ - std::string output_frame_; - bool keep_input_frame_in_synchronized_pointcloud_; - - /** \brief Input point cloud topics. */ - // XmlRpc::XmlRpcValue input_topics_; - std::vector input_topics_; - - /** \brief TF listener object. */ - std::shared_ptr tf2_buffer_; - std::shared_ptr tf2_listener_; - - std::deque twist_ptr_queue_; - - std::map cloud_stdmap_; - std::map cloud_stdmap_tmp_; - std::mutex mutex_; - - std::vector input_offset_; - std::map offset_map_; - - void transformPointCloud(const PointCloud2::ConstSharedPtr & in, PointCloud2::SharedPtr & out); - void transformPointCloud( - const PointCloud2::ConstSharedPtr & in, PointCloud2::SharedPtr & out, - const std::string & target_frame); - Eigen::Matrix4f computeTransformToAdjustForOldTimestamp( - const rclcpp::Time & old_stamp, const rclcpp::Time & new_stamp); - std::map synchronizeClouds(); - void publish(); - - void convertToXYZIRCCloud( - const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, - sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr); - void setPeriod(const int64_t new_period); - void cloud_callback( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_ptr, - const std::string & topic_name); - void twist_callback(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr input); - void odom_callback(const nav_msgs::msg::Odometry::ConstSharedPtr input); - void timer_callback(); - - void checkSyncStatus(diagnostic_updater::DiagnosticStatusWrapper & stat); - std::string replaceSyncTopicNamePostfix( - const std::string & original_topic_name, const std::string & postfix); - - /** \brief processing time publisher. **/ - std::unique_ptr> stop_watch_ptr_; - std::unique_ptr debug_publisher_; -}; - -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODELET_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp deleted file mode 100644 index 9c4ba7c5ea7ea..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp +++ /dev/null @@ -1,43 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#pragma once - -#include - -namespace autoware::pointcloud_preprocessor -{ - -/** - * This holds the coordinate transformation information of the point cloud. - * Usage example: - * \code - * if (transform_info.need_transform) { - * point = transform_info.eigen_transform * point; - * } - * \endcode - */ -struct TransformInfo -{ - TransformInfo() - { - eigen_transform = Eigen::Matrix4f::Identity(4, 4); - need_transform = false; - } - - Eigen::Matrix4f eigen_transform; - bool need_transform; -}; - -} // namespace autoware::pointcloud_preprocessor diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp deleted file mode 100644 index c019fd04f6c87..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp +++ /dev/null @@ -1,97 +0,0 @@ -// Copyright 2024 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp -#ifndef POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ -#define POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ -======== -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/utility/geometry.hpp - -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include -#include - -using K = CGAL::Exact_predicates_inexact_constructions_kernel; -using PointCgal = K::Point_2; -using PolygonCgal = std::vector; - -namespace autoware::pointcloud_preprocessor::utils -{ -/** - * @brief convert ROS polygon to CGAL polygon - */ -void to_cgal_polygon(const geometry_msgs::msg::Polygon & polygon_in, PolygonCgal & polygon_out); - -/** - * @brief convert lanelet polygon to CGAL polygon - */ -void to_cgal_polygon(const lanelet::BasicPolygon2d & polygon_in, PolygonCgal & polygon_out); - -/** - * @brief remove points in the given polygon - */ -void remove_polygon_cgal_from_cloud( - const sensor_msgs::msg::PointCloud2 & cloud_in, const PolygonCgal & polyline_polygon, - sensor_msgs::msg::PointCloud2 & cloud_out, const std::optional & max_z = std::nullopt); - -/** - * @brief remove points in the given polygon - */ -void remove_polygon_cgal_from_cloud( - const pcl::PointCloud & cloud_in, const PolygonCgal & polyline_polygon, - pcl::PointCloud & cloud_out, const std::optional & max_z = std::nullopt); - -/** - * @brief remove points in the given polygons - */ -void remove_polygon_cgal_from_cloud( - const sensor_msgs::msg::PointCloud2 & cloud_in, - const std::vector & polyline_polygons, sensor_msgs::msg::PointCloud2 & cloud_out, - const std::optional & max_z = std::nullopt); - -/** - * @brief remove points in the given polygons - */ -void remove_polygon_cgal_from_cloud( - const pcl::PointCloud & cloud_in, - const std::vector & polyline_polygons, pcl::PointCloud & cloud_out, - const std::optional & max_z = std::nullopt); - -/** - * @brief return true if the given point is inside the at least one of the polygons - */ -bool point_within_cgal_polys( - const pcl::PointXYZ & point, const std::vector & polyline_polygons); - -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp -} // namespace pointcloud_preprocessor::utils - -#endif // POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ -======== -} // namespace autoware::pointcloud_preprocessor::utils - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/utility/geometry.hpp diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp deleted file mode 100644 index ef87a4f31457b..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/memory.hpp +++ /dev/null @@ -1,40 +0,0 @@ -// Copyright 2024 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef POINTCLOUD_PREPROCESSOR__UTILITY__MEMORY_HPP_ -#define POINTCLOUD_PREPROCESSOR__UTILITY__MEMORY_HPP_ - -#include - -namespace pointcloud_preprocessor::utils -{ -/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZI. That is to - * say whether you can memcpy from the PointCloud2 data buffer to a PointXYZI */ -bool is_data_layout_compatible_with_point_xyzi(const sensor_msgs::msg::PointCloud2 & input); - -/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRC. That is - * to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRC */ -bool is_data_layout_compatible_with_point_xyzirc(const sensor_msgs::msg::PointCloud2 & input); - -/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRADRT. That - * is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRADRT */ -bool is_data_layout_compatible_with_point_xyziradrt(const sensor_msgs::msg::PointCloud2 & input); - -/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRCAEDT. That - * is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRCAEDT */ -bool is_data_layout_compatible_with_point_xyzircaedt(const sensor_msgs::msg::PointCloud2 & input); - -} // namespace pointcloud_preprocessor::utils - -#endif // POINTCLOUD_PREPROCESSOR__UTILITY__MEMORY_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp deleted file mode 100644 index 4ba773ed618ac..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp +++ /dev/null @@ -1,100 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_ - -#include -#include -#include -#include - -#include -#include - -#include -#include -#include - -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif - -#include - -#include -#include -#include -#include - -using autoware::universe_utils::LinearRing2d; -using autoware::universe_utils::MultiPoint2d; -using autoware::universe_utils::Point2d; - -namespace autoware::pointcloud_preprocessor -{ -class Lanelet2MapFilterComponent : public rclcpp::Node -{ - using PointCloud2 = sensor_msgs::msg::PointCloud2; - using PointCloud2Ptr = sensor_msgs::msg::PointCloud2::SharedPtr; - using PointCloud2ConstPtr = sensor_msgs::msg::PointCloud2::ConstSharedPtr; - -public: - explicit Lanelet2MapFilterComponent(const rclcpp::NodeOptions & options); - -private: - std::shared_ptr tf_buffer_; - std::shared_ptr tf_listener_; - - rclcpp::Subscription::SharedPtr map_sub_; - rclcpp::Subscription::SharedPtr pointcloud_sub_; - rclcpp::Publisher::SharedPtr filtered_pointcloud_pub_; - - lanelet::LaneletMapPtr lanelet_map_ptr_; - lanelet::ConstLanelets road_lanelets_; - - float voxel_size_x_; - float voxel_size_y_; - - void pointcloudCallback(const PointCloud2ConstPtr msg); - - void mapCallback(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg); - - bool transformPointCloud( - const std::string & in_target_frame, const PointCloud2ConstPtr & in_cloud_ptr, - PointCloud2 * out_cloud_ptr); - - LinearRing2d getConvexHull(const pcl::PointCloud::Ptr & input_cloud); - - lanelet::ConstLanelets getIntersectedLanelets( - const LinearRing2d & convex_hull, const lanelet::ConstLanelets & road_lanelets_); - - pcl::PointCloud getLaneFilteredPointCloud( - const lanelet::ConstLanelets & joint_lanelets, - const pcl::PointCloud::Ptr & cloud); - - bool pointWithinLanelets(const Point2d & point, const lanelet::ConstLanelets & joint_lanelets); - - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); -}; - -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp deleted file mode 100644 index 834de2c1782db..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp +++ /dev/null @@ -1,61 +0,0 @@ -// Copyright 2024 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_ - -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp -#include "pointcloud_preprocessor/filter.hpp" -#include "pointcloud_preprocessor/utility/geometry.hpp" -======== -#include "autoware/pointcloud_preprocessor/filter.hpp" -#include "autoware/pointcloud_preprocessor/utility/geometry.hpp" ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp - -#include -#include -#include - -#include - -#include - -using autoware::universe_utils::MultiPoint2d; - -namespace autoware::pointcloud_preprocessor -{ -class VectorMapInsideAreaFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -private: - void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; - - rclcpp::Subscription::SharedPtr map_sub_; - lanelet::ConstPolygons3d polygon_lanelets_; - - void mapCallback(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg); - - // parameter - std::string polygon_type_; - bool use_z_filter_ = false; - float z_threshold_; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit VectorMapInsideAreaFilterComponent(const rclcpp::NodeOptions & options); -}; - -} // namespace autoware::pointcloud_preprocessor - -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml similarity index 100% rename from sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml diff --git a/sensing/autoware_pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml deleted file mode 100644 index 6d1aa1f906828..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/launch/blockage_diagnostics_node.launch.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml deleted file mode 100644 index 4afc4906f0b3a..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml - - - -======== - - - - - ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml - - - - - - - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml similarity index 100% rename from sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter.launch.xml diff --git a/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml similarity index 100% rename from sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter.launch.xml diff --git a/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml similarity index 100% rename from sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator.launch.xml diff --git a/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml similarity index 100% rename from sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter.launch.xml diff --git a/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml deleted file mode 100644 index aa7c96156ae4c..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml - - - -======== - - ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter.launch.xml - - - - - - - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml similarity index 100% rename from sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter.launch.xml diff --git a/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml deleted file mode 100644 index 5bffc6f3e0463..0000000000000 --- a/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter_node.launch.xml - - - - - -======== - - ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml - - - - - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml similarity index 100% rename from sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter.launch.xml diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml similarity index 100% rename from sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter.launch.xml diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml similarity index 100% rename from sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml rename to sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter.launch.xml From 7bd282f4cecae538a6236b7af07a87f988b787ad Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 24 Jul 2024 05:41:20 +0000 Subject: [PATCH 306/306] style(pre-commit): autofix --- .../autoware_detection_by_tracker/package.xml | 6 +- .../src/ransac_ground_filter/node.cpp | 17 +- .../src/ray_ground_filter/node.hpp | 49 +- .../src/scan_ground_filter/node.cpp | 11 +- .../src/scan_ground_filter/node.hpp | 11 +- .../docs/segmentation-pointcloud-fusion.md | 4 +- .../pointpainting_fusion/node.hpp | 85 +- .../pointpainting_fusion/voxel_generator.hpp | 55 +- .../package.xml | 6 +- .../src/pointpainting_fusion/node.cpp | 19 +- .../pointpainting_trt.cpp | 108 +-- .../autoware_shape_estimation/README.md | 4 +- .../node.hpp | 167 ++-- .../node.hpp | 88 ++- .../voxel_based_compare_map_filter/node.hpp | 49 +- .../node.hpp | 213 ++--- .../src/ransac_ground_filter/node.cpp | 17 +- .../src/ray_ground_filter/node.hpp | 49 +- .../src/scan_ground_filter/node.cpp | 11 +- .../src/scan_ground_filter/node.hpp | 11 +- .../pointpainting_fusion/node.hpp | 85 +- .../pointpainting_fusion/voxel_generator.hpp | 55 +- ...occupancy_grid_map_outlier_filter_node.hpp | 167 ++-- .../include/autoware/path_optimizer/node.hpp | 210 ++--- .../distortion_corrector_node.hpp | 69 +- .../polygon_remover/polygon_remover.hpp | 63 +- .../utility/geometry.hpp | 25 +- .../vector_map_inside_area_filter.hpp | 13 +- .../concatenate_and_time_sync_nodelet.cpp | 1 - .../concatenate_pointclouds.cpp | 1 - .../distortion_corrector.cpp | 737 +++++++++--------- .../distortion_corrector_node.cpp | 3 +- .../src/filter.cpp | 1 - .../test/test_distortion_corrector_node.cpp | 4 +- .../test/test_utilities.cpp | 4 +- 35 files changed, 1250 insertions(+), 1168 deletions(-) diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index c21ae605fcc4c..651dfadb05a0a 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -14,10 +14,7 @@ eigen3_cmake_module autoware_euclidean_cluster -<<<<<<< HEAD -======= autoware_shape_estimation ->>>>>>> original/main autoware_universe_utils eigen object_recognition_utils @@ -27,6 +24,9 @@ tf2_geometry_msgs tf2_ros tier4_perception_msgs +<<<<<<< HEAD +======= +>>>>>>> original/main ament_lint_auto autoware_lint_common diff --git a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp index e62ff2e50316c..774c19e866357 100644 --- a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp @@ -80,13 +80,16 @@ PlaneBasis getPlaneBasis(const Eigen::Vector3d & plane_normal) return basis; } -<<<<<<<< HEAD:perception/ground_segmentation/src/ransac_ground_filter/node.cpp -using pointcloud_preprocessor::get_param; -======== -using autoware::pointcloud_preprocessor::get_param; ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp - -RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptions & options) +< < < < < < < < HEAD : perception / ground_segmentation / src / ransac_ground_filter / + node.cpp using pointcloud_preprocessor::get_param; +== == == == using autoware::pointcloud_preprocessor::get_param; +>>>>>>>> original / + main +: perception / + autoware_ground_segmentation / src / ransac_ground_filter / + node.cpp + + RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptions & options) : Filter("RANSACGroundFilter", options) { base_frame_ = declare_parameter("base_frame", "base_link"); diff --git a/perception/autoware_ground_segmentation/src/ray_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/ray_ground_filter/node.hpp index f872a257b5a03..9a2a2d5081a93 100644 --- a/perception/autoware_ground_segmentation/src/ray_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/ray_ground_filter/node.hpp @@ -58,13 +58,16 @@ #include #endif -<<<<<<<< HEAD:perception/ground_segmentation/src/ray_ground_filter/node.hpp +<<<<<<<< + HEAD : perception / ground_segmentation / src / ray_ground_filter / node.hpp #include "gencolors.hpp" #include "pointcloud_preprocessor/filter.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" #include "gencolors.hpp" ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/ray_ground_filter/node.hpp + >>>>>>>> original / + main : perception / autoware_ground_segmentation / src / ray_ground_filter / + node.hpp #include #include @@ -80,7 +83,7 @@ #include #include -namespace bg = boost::geometry; + namespace bg = boost::geometry; using Point = bg::model::d2::point_xy; using Polygon = bg::model::polygon; @@ -189,31 +192,33 @@ class RayGroundFilterComponent : public autoware::pointcloud_preprocessor::Filte * @param out_only_indices_cloud_ptr Resulting PointCloud with the indices kept * @param out_removed_indices_cloud_ptr Resulting PointCloud with the indices removed */ - void ExtractPointsIndices( - const PointCloud2::ConstSharedPtr in_cloud_ptr, const pcl::PointIndices & in_indices, -<<<<<<<< HEAD:perception/ground_segmentation/src/ray_ground_filter/node.hpp - PointCloud2::SharedPtr out_only_indices_cloud_ptr, - PointCloud2::SharedPtr out_removed_indices_cloud_ptr); + void ExtractPointsIndices(const PointCloud2::ConstSharedPtr in_cloud_ptr, + const pcl::PointIndices & in_indices, < < < < < < < < HEAD + : perception / ground_segmentation / src / ray_ground_filter / + node.hpp PointCloud2::SharedPtr out_only_indices_cloud_ptr, + PointCloud2::SharedPtr out_removed_indices_cloud_ptr); ======== PointCloud2::SharedPtr ground_cloud_msg_ptr, PointCloud2::SharedPtr no_ground_cloud_msg_ptr); ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/ray_ground_filter/node.hpp +>>>>>>>> original / main : perception / autoware_ground_segmentation / src / ray_ground_filter / + node.hpp - boost::optional calcPointVehicleIntersection(const Point & point); + boost::optional + calcPointVehicleIntersection(const Point & point); - void setVehicleFootprint( - const double min_x, const double max_x, const double min_y, const double max_y); - void initializePointCloud2( - const PointCloud2::ConstSharedPtr & in_cloud_ptr, - const PointCloud2::SharedPtr & out_cloud_msg_ptr); - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; +void setVehicleFootprint( + const double min_x, const double max_x, const double min_y, const double max_y); +void initializePointCloud2( + const PointCloud2::ConstSharedPtr & in_cloud_ptr, + const PointCloud2::SharedPtr & out_cloud_msg_ptr); +/** \brief Parameter service callback result : needed to be hold */ +OnSetParametersCallbackHandle::SharedPtr set_param_res_; - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); +/** \brief Parameter service callback */ +rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - explicit RayGroundFilterComponent(const rclcpp::NodeOptions & options); +EIGEN_MAKE_ALIGNED_OPERATOR_NEW +explicit RayGroundFilterComponent(const rclcpp::NodeOptions & options); }; } // namespace autoware::ground_segmentation diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp index f79f261a17812..52fd0e71ca11d 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp @@ -32,12 +32,11 @@ using autoware::universe_utils::normalizeDegree; using autoware::universe_utils::normalizeRadian; using autoware::vehicle_info_utils::VehicleInfoUtils; -ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & options) -<<<<<<<< HEAD:perception/ground_segmentation/src/scan_ground_filter/node.cpp -: pointcloud_preprocessor::Filter("ScanGroundFilter", options) -======== -: autoware::pointcloud_preprocessor::Filter("ScanGroundFilter", options) ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp +ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & options)<<<<<<<< + HEAD : perception / ground_segmentation / src / scan_ground_filter / + node.cpp : pointcloud_preprocessor::Filter("ScanGroundFilter", options) == + == == == : autoware::pointcloud_preprocessor::Filter("ScanGroundFilter", options)>>>>>>>> original + / main : perception / autoware_ground_segmentation / src / scan_ground_filter / node.cpp { // set initial parameters { diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp index f2ccd234ce2da..3f6ad785fa519 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp @@ -15,15 +15,18 @@ #ifndef SCAN_GROUND_FILTER__NODE_HPP_ #define SCAN_GROUND_FILTER__NODE_HPP_ -<<<<<<<< HEAD:perception/ground_segmentation/src/scan_ground_filter/node.hpp +<<<<<<<< + HEAD : perception / ground_segmentation / src / scan_ground_filter / node.hpp #include "autoware_vehicle_info_utils/vehicle_info.hpp" #include "pointcloud_preprocessor/filter.hpp" #include "pointcloud_preprocessor/transform_info.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/transform_info.hpp" #include "autoware_vehicle_info_utils/vehicle_info.hpp" ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp + >>>>>>>> original / + main : perception / autoware_ground_segmentation / src / scan_ground_filter / + node.hpp #include @@ -44,7 +47,7 @@ #include #include -class ScanGroundFilterTest; + class ScanGroundFilterTest; namespace autoware::ground_segmentation { diff --git a/perception/autoware_image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md b/perception/autoware_image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md index 89a7fdbc1b40f..a67b13df99818 100644 --- a/perception/autoware_image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md +++ b/perception/autoware_image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md @@ -35,8 +35,10 @@ The node `segmentation_pointcloud_fusion` is a package for filtering pointcloud <<<<<<< HEAD:perception/image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md {{ json_to_markdown("perception/image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json") }} ======= + {{ json_to_markdown("perception/autoware_image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json") }} ->>>>>>> original/main:perception/autoware_image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md + +> > > > > > > original/main:perception/autoware_image_projection_based_fusion/docs/segmentation-pointcloud-fusion.md ## Assumptions / Known limits diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp index 589f8b3cefed2..5aa6bcf47def6 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp @@ -17,75 +17,80 @@ #include "autoware/image_projection_based_fusion/fusion_node.hpp" #include "autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp" -<<<<<<<< HEAD:perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp +<<<<<<<< + HEAD : perception / image_projection_based_fusion / include / autoware / + image_projection_based_fusion / pointpainting_fusion / node.hpp #include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp" #include #include #include #include -======== + == == == == #include "autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp" #include #include #include #include ->>>>>>>> original/main:perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp + >>>>>>>> original / + main : perception / autoware_image_projection_based_fusion / include / autoware / + image_projection_based_fusion / pointpainting_fusion / + node.hpp #include #include #include #include -namespace autoware::image_projection_based_fusion + namespace autoware::image_projection_based_fusion { -using Label = autoware_perception_msgs::msg::ObjectClassification; + using Label = autoware_perception_msgs::msg::ObjectClassification; -inline bool isInsideBbox( - float proj_x, float proj_y, sensor_msgs::msg::RegionOfInterest roi, float zc) -{ - // z_c is scaling to normalize projection point - return proj_x >= roi.x_offset * zc && proj_x <= (roi.x_offset + roi.width) * zc && - proj_y >= roi.y_offset * zc && proj_y <= (roi.y_offset + roi.height) * zc; -} + inline bool isInsideBbox( + float proj_x, float proj_y, sensor_msgs::msg::RegionOfInterest roi, float zc) + { + // z_c is scaling to normalize projection point + return proj_x >= roi.x_offset * zc && proj_x <= (roi.x_offset + roi.width) * zc && + proj_y >= roi.y_offset * zc && proj_y <= (roi.y_offset + roi.height) * zc; + } -class PointPaintingFusionNode -: public FusionNode -{ -public: - explicit PointPaintingFusionNode(const rclcpp::NodeOptions & options); + class PointPaintingFusionNode + : public FusionNode + { + public: + explicit PointPaintingFusionNode(const rclcpp::NodeOptions & options); -protected: - void preprocess(sensor_msgs::msg::PointCloud2 & pointcloud_msg) override; + protected: + void preprocess(sensor_msgs::msg::PointCloud2 & pointcloud_msg) override; - void fuseOnSingleImage( - const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const std::size_t image_id, - const DetectedObjectsWithFeature & input_roi_msg, - const sensor_msgs::msg::CameraInfo & camera_info, - sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg) override; + void fuseOnSingleImage( + const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const std::size_t image_id, + const DetectedObjectsWithFeature & input_roi_msg, + const sensor_msgs::msg::CameraInfo & camera_info, + sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg) override; - void postprocess(sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg) override; + void postprocess(sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg) override; - rclcpp::Publisher::SharedPtr obj_pub_ptr_; + rclcpp::Publisher::SharedPtr obj_pub_ptr_; - std::vector tan_h_; // horizontal field of view + std::vector tan_h_; // horizontal field of view - int omp_num_threads_{1}; - float score_threshold_{0.0}; - std::vector class_names_; - std::map class_index_; - std::map> isClassTable_; - std::vector pointcloud_range; - bool has_variance_{false}; - bool has_twist_{false}; + int omp_num_threads_{1}; + float score_threshold_{0.0}; + std::vector class_names_; + std::map class_index_; + std::map> isClassTable_; + std::vector pointcloud_range; + bool has_variance_{false}; + bool has_twist_{false}; - autoware::lidar_centerpoint::NonMaximumSuppression iou_bev_nms_; - autoware::lidar_centerpoint::DetectionClassRemapper detection_class_remapper_; + autoware::lidar_centerpoint::NonMaximumSuppression iou_bev_nms_; + autoware::lidar_centerpoint::DetectionClassRemapper detection_class_remapper_; - std::unique_ptr detector_ptr_{nullptr}; + std::unique_ptr detector_ptr_{nullptr}; - bool out_of_scope(const DetectedObjects & obj); -}; + bool out_of_scope(const DetectedObjects & obj); + }; } // namespace autoware::image_projection_based_fusion #endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp index 63fb225649f21..ac960aefd0bdb 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp @@ -16,41 +16,46 @@ #define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ #include -<<<<<<<< HEAD:perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp +<<<<<<<< + HEAD : perception / image_projection_based_fusion / include / autoware / + image_projection_based_fusion / pointpainting_fusion / voxel_generator.hpp #include #include -======== + == == == == #include #include ->>>>>>>> original/main:perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp + >>>>>>>> original / + main : perception / autoware_image_projection_based_fusion / include / autoware / + image_projection_based_fusion / pointpainting_fusion / + voxel_generator.hpp #include #include #include -namespace autoware::image_projection_based_fusion + namespace autoware::image_projection_based_fusion { - -class VoxelGenerator -{ -public: - explicit VoxelGenerator( - const autoware::lidar_centerpoint::DensificationParam & param, - const autoware::lidar_centerpoint::CenterPointConfig & config); - - bool enqueuePointCloud( - const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const tf2_ros::Buffer & tf_buffer); - - std::size_t generateSweepPoints(std::vector & points); - -protected: - std::unique_ptr pd_ptr_{nullptr}; - - autoware::lidar_centerpoint::CenterPointConfig config_; - std::array range_; - std::array grid_size_; - std::array recip_voxel_size_; -}; + class VoxelGenerator + { + public: + explicit VoxelGenerator( + const autoware::lidar_centerpoint::DensificationParam & param, + const autoware::lidar_centerpoint::CenterPointConfig & config); + + bool enqueuePointCloud( + const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, + const tf2_ros::Buffer & tf_buffer); + + std::size_t generateSweepPoints(std::vector & points); + + protected: + std::unique_ptr pd_ptr_{nullptr}; + + autoware::lidar_centerpoint::CenterPointConfig config_; + std::array range_; + std::array grid_size_; + std::array recip_voxel_size_; + }; } // namespace autoware::image_projection_based_fusion #endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml index 28dcdb2994738..10bab9bb0552e 100644 --- a/perception/autoware_image_projection_based_fusion/package.xml +++ b/perception/autoware_image_projection_based_fusion/package.xml @@ -17,10 +17,7 @@ autoware_cmake autoware_euclidean_cluster -<<<<<<< HEAD:perception/image_projection_based_fusion/package.xml -======= autoware_lidar_centerpoint ->>>>>>> original/main:perception/autoware_image_projection_based_fusion/package.xml autoware_perception_msgs autoware_point_types autoware_universe_utils @@ -36,6 +33,9 @@ tf2_ros tf2_sensor_msgs tier4_perception_msgs +<<<<<<< HEAD:perception/image_projection_based_fusion/package.xml +======= +>>>>>>> original/main:perception/autoware_image_projection_based_fusion/package.xml ament_cmake_gtest ament_lint_auto diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp index b8a3d45ada495..6fee65de42a72 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -25,29 +25,28 @@ #include #include #include -======= + ======= #include #include #include #include #include #include ->>>>>>> original/main:perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp + >>>>>>> original/main:perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp #include #include #include -namespace -{ - -Eigen::Affine3f _transformToEigen(const geometry_msgs::msg::Transform & t) + namespace { - Eigen::Affine3f a; - a.matrix() = tf2::transformToEigen(t).matrix().cast(); - return a; -} + Eigen::Affine3f _transformToEigen(const geometry_msgs::msg::Transform & t) + { + Eigen::Affine3f a; + a.matrix() = tf2::transformToEigen(t).matrix().cast(); + return a; + } } // namespace diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp index 87f9279f83aac..a5c11c951b4e9 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp @@ -19,74 +19,74 @@ #include #include #include -======= + ======= #include #include #include ->>>>>>> original/main:perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp + >>>>>>> original/main:perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp #include #include #include #include -namespace autoware::image_projection_based_fusion + namespace autoware::image_projection_based_fusion { -PointPaintingTRT::PointPaintingTRT( - const autoware::lidar_centerpoint::NetworkParam & encoder_param, - const autoware::lidar_centerpoint::NetworkParam & head_param, - const autoware::lidar_centerpoint::DensificationParam & densification_param, - const autoware::lidar_centerpoint::CenterPointConfig & config) -: autoware::lidar_centerpoint::CenterPointTRT( - encoder_param, head_param, densification_param, config) -{ - vg_ptr_pp_ = - std::make_unique(densification_param, config_); -} - -bool PointPaintingTRT::preprocess( - const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const tf2_ros::Buffer & tf_buffer) -{ - bool is_success = vg_ptr_pp_->enqueuePointCloud(input_pointcloud_msg, tf_buffer); - if (!is_success) { - return false; + PointPaintingTRT::PointPaintingTRT( + const autoware::lidar_centerpoint::NetworkParam & encoder_param, + const autoware::lidar_centerpoint::NetworkParam & head_param, + const autoware::lidar_centerpoint::DensificationParam & densification_param, + const autoware::lidar_centerpoint::CenterPointConfig & config) + : autoware::lidar_centerpoint::CenterPointTRT( + encoder_param, head_param, densification_param, config) + { + vg_ptr_pp_ = + std::make_unique(densification_param, config_); } - const auto count = vg_ptr_pp_->generateSweepPoints(points_); - CHECK_CUDA_ERROR(cudaMemcpyAsync( - points_d_.get(), points_.data(), count * config_.point_feature_size_ * sizeof(float), - cudaMemcpyHostToDevice, stream_)); - CHECK_CUDA_ERROR(cudaMemsetAsync(num_voxels_d_.get(), 0, sizeof(unsigned int), stream_)); - CHECK_CUDA_ERROR(cudaMemsetAsync(voxels_buffer_d_.get(), 0, voxels_buffer_size_, stream_)); - CHECK_CUDA_ERROR(cudaMemsetAsync(mask_d_.get(), 0, mask_size_, stream_)); - CHECK_CUDA_ERROR(cudaMemsetAsync( - voxels_d_.get(), 0, - config_.max_voxel_size_ * config_.max_point_in_voxel_size_ * config_.point_feature_size_ * - sizeof(float), - stream_)); - CHECK_CUDA_ERROR(cudaMemsetAsync( - coordinates_d_.get(), 0, config_.max_voxel_size_ * config_.point_dim_size_ * sizeof(int), - stream_)); - CHECK_CUDA_ERROR(cudaMemsetAsync( - num_points_per_voxel_d_.get(), 0, config_.max_voxel_size_ * sizeof(float), stream_)); - CHECK_CUDA_ERROR(image_projection_based_fusion::generateVoxels_random_launch( - points_d_.get(), count, config_.range_min_x_, config_.range_max_x_, config_.range_min_y_, - config_.range_max_y_, config_.range_min_z_, config_.range_max_z_, config_.voxel_size_x_, - config_.voxel_size_y_, config_.voxel_size_z_, config_.grid_size_y_, config_.grid_size_x_, - mask_d_.get(), voxels_buffer_d_.get(), stream_)); + bool PointPaintingTRT::preprocess( + const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const tf2_ros::Buffer & tf_buffer) + { + bool is_success = vg_ptr_pp_->enqueuePointCloud(input_pointcloud_msg, tf_buffer); + if (!is_success) { + return false; + } + const auto count = vg_ptr_pp_->generateSweepPoints(points_); + CHECK_CUDA_ERROR(cudaMemcpyAsync( + points_d_.get(), points_.data(), count * config_.point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice, stream_)); + CHECK_CUDA_ERROR(cudaMemsetAsync(num_voxels_d_.get(), 0, sizeof(unsigned int), stream_)); + CHECK_CUDA_ERROR(cudaMemsetAsync(voxels_buffer_d_.get(), 0, voxels_buffer_size_, stream_)); + CHECK_CUDA_ERROR(cudaMemsetAsync(mask_d_.get(), 0, mask_size_, stream_)); + CHECK_CUDA_ERROR(cudaMemsetAsync( + voxels_d_.get(), 0, + config_.max_voxel_size_ * config_.max_point_in_voxel_size_ * config_.point_feature_size_ * + sizeof(float), + stream_)); + CHECK_CUDA_ERROR(cudaMemsetAsync( + coordinates_d_.get(), 0, config_.max_voxel_size_ * config_.point_dim_size_ * sizeof(int), + stream_)); + CHECK_CUDA_ERROR(cudaMemsetAsync( + num_points_per_voxel_d_.get(), 0, config_.max_voxel_size_ * sizeof(float), stream_)); - CHECK_CUDA_ERROR(image_projection_based_fusion::generateBaseFeatures_launch( - mask_d_.get(), voxels_buffer_d_.get(), config_.grid_size_y_, config_.grid_size_x_, - config_.max_voxel_size_, num_voxels_d_.get(), voxels_d_.get(), num_points_per_voxel_d_.get(), - coordinates_d_.get(), stream_)); + CHECK_CUDA_ERROR(image_projection_based_fusion::generateVoxels_random_launch( + points_d_.get(), count, config_.range_min_x_, config_.range_max_x_, config_.range_min_y_, + config_.range_max_y_, config_.range_min_z_, config_.range_max_z_, config_.voxel_size_x_, + config_.voxel_size_y_, config_.voxel_size_z_, config_.grid_size_y_, config_.grid_size_x_, + mask_d_.get(), voxels_buffer_d_.get(), stream_)); - CHECK_CUDA_ERROR(image_projection_based_fusion::generateFeatures_launch( - voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), num_voxels_d_.get(), - config_.max_voxel_size_, config_.voxel_size_x_, config_.voxel_size_y_, config_.voxel_size_z_, - config_.range_min_x_, config_.range_min_y_, config_.range_min_z_, encoder_in_features_d_.get(), - config_.encoder_in_feature_size_, stream_)); + CHECK_CUDA_ERROR(image_projection_based_fusion::generateBaseFeatures_launch( + mask_d_.get(), voxels_buffer_d_.get(), config_.grid_size_y_, config_.grid_size_x_, + config_.max_voxel_size_, num_voxels_d_.get(), voxels_d_.get(), num_points_per_voxel_d_.get(), + coordinates_d_.get(), stream_)); - return true; -} + CHECK_CUDA_ERROR(image_projection_based_fusion::generateFeatures_launch( + voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), num_voxels_d_.get(), + config_.max_voxel_size_, config_.voxel_size_x_, config_.voxel_size_y_, config_.voxel_size_z_, + config_.range_min_x_, config_.range_min_y_, config_.range_min_z_, + encoder_in_features_d_.get(), config_.encoder_in_feature_size_, stream_)); + + return true; + } } // namespace autoware::image_projection_based_fusion diff --git a/perception/autoware_shape_estimation/README.md b/perception/autoware_shape_estimation/README.md index cdbe48b028d87..7e6bf025c7d55 100644 --- a/perception/autoware_shape_estimation/README.md +++ b/perception/autoware_shape_estimation/README.md @@ -39,8 +39,10 @@ This node calculates a refined object shape (bounding box, cylinder, convex hull <<<<<<< HEAD:perception/shape_estimation/README.md {{ json_to_markdown("perception/autoware/shape_estimation/schema/shape_estimation.schema.json") }} ======= + {{ json_to_markdown("perception/autoware_shape_estimation/schema/shape_estimation.schema.json") }} ->>>>>>> original/main:perception/autoware_shape_estimation/README.md + +> > > > > > > original/main:perception/autoware_shape_estimation/README.md ## Assumptions / Known limits diff --git a/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp index e1c5b0d0eede7..3ff6dc3a32c7b 100644 --- a/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp +++ b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp @@ -16,11 +16,14 @@ #define DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_ #include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp" -<<<<<<<< HEAD:perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp +<<<<<<<< + HEAD : perception / compare_map_segmentation / src / distance_based_compare_map_filter / node.hpp #include "pointcloud_preprocessor/filter.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" ->>>>>>>> original/main:perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp + >>>>>>>> original / + main : perception / autoware_compare_map_segmentation / src / distance_based_compare_map_filter / + node.hpp #include // for pcl::isFinite #include @@ -30,94 +33,94 @@ #include #include -namespace autoware::compare_map_segmentation + namespace autoware::compare_map_segmentation { + typedef typename pcl::Filter::PointCloud PointCloud; + typedef typename PointCloud::Ptr PointCloudPtr; + typedef typename PointCloud::ConstPtr PointCloudConstPtr; -typedef typename pcl::Filter::PointCloud PointCloud; -typedef typename PointCloud::Ptr PointCloudPtr; -typedef typename PointCloud::ConstPtr PointCloudConstPtr; - -class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader -{ -private: - PointCloudConstPtr map_ptr_; - pcl::search::Search::Ptr tree_; - -public: - DistanceBasedStaticMapLoader( - rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, std::mutex * mutex) - : VoxelGridStaticMapLoader(node, leaf_size, 1.0, tf_map_input_frame, mutex) + class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { - RCLCPP_INFO(logger_, "DistanceBasedStaticMapLoader initialized.\n"); - } - - void onMapCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr map) override; - bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; -}; + private: + PointCloudConstPtr map_ptr_; + pcl::search::Search::Ptr tree_; + + public: + DistanceBasedStaticMapLoader( + rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, std::mutex * mutex) + : VoxelGridStaticMapLoader(node, leaf_size, 1.0, tf_map_input_frame, mutex) + { + RCLCPP_INFO(logger_, "DistanceBasedStaticMapLoader initialized.\n"); + } -class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader -{ -public: - DistanceBasedDynamicMapLoader( - rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group) - : VoxelGridDynamicMapLoader(node, leaf_size, 1.0, tf_map_input_frame, mutex, main_callback_group) - { - RCLCPP_INFO(logger_, "DistanceBasedDynamicMapLoader initialized.\n"); - } - bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; + void onMapCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr map) override; + bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; + }; - inline void addMapCellAndFilter( - const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add) override + class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader { - map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; - map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; - - pcl::PointCloud map_cell_pc_tmp; - pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); - - auto map_cell_voxel_input_tmp_ptr = - std::make_shared>(map_cell_pc_tmp); - - MapGridVoxelInfo current_voxel_grid_list_item; - current_voxel_grid_list_item.min_b_x = map_cell_to_add.metadata.min_x; - current_voxel_grid_list_item.min_b_y = map_cell_to_add.metadata.min_y; - current_voxel_grid_list_item.max_b_x = map_cell_to_add.metadata.max_x; - current_voxel_grid_list_item.max_b_y = map_cell_to_add.metadata.max_y; - - // add kdtree - pcl::search::Search::Ptr tree_tmp; - if (!tree_tmp) { - if (map_cell_voxel_input_tmp_ptr->isOrganized()) { - tree_tmp.reset(new pcl::search::OrganizedNeighbor()); - } else { - tree_tmp.reset(new pcl::search::KdTree(false)); - } + public: + DistanceBasedDynamicMapLoader( + rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, std::mutex * mutex, + rclcpp::CallbackGroup::SharedPtr main_callback_group) + : VoxelGridDynamicMapLoader( + node, leaf_size, 1.0, tf_map_input_frame, mutex, main_callback_group) + { + RCLCPP_INFO(logger_, "DistanceBasedDynamicMapLoader initialized.\n"); } - tree_tmp->setInputCloud(map_cell_voxel_input_tmp_ptr); - current_voxel_grid_list_item.map_cell_kdtree = tree_tmp; + bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; + + inline void addMapCellAndFilter( + const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add) override + { + map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; + map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; + + pcl::PointCloud map_cell_pc_tmp; + pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); + + auto map_cell_voxel_input_tmp_ptr = + std::make_shared>(map_cell_pc_tmp); + + MapGridVoxelInfo current_voxel_grid_list_item; + current_voxel_grid_list_item.min_b_x = map_cell_to_add.metadata.min_x; + current_voxel_grid_list_item.min_b_y = map_cell_to_add.metadata.min_y; + current_voxel_grid_list_item.max_b_x = map_cell_to_add.metadata.max_x; + current_voxel_grid_list_item.max_b_y = map_cell_to_add.metadata.max_y; + + // add kdtree + pcl::search::Search::Ptr tree_tmp; + if (!tree_tmp) { + if (map_cell_voxel_input_tmp_ptr->isOrganized()) { + tree_tmp.reset(new pcl::search::OrganizedNeighbor()); + } else { + tree_tmp.reset(new pcl::search::KdTree(false)); + } + } + tree_tmp->setInputCloud(map_cell_voxel_input_tmp_ptr); + current_voxel_grid_list_item.map_cell_kdtree = tree_tmp; - // add - (*mutex_ptr_).lock(); - current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); - (*mutex_ptr_).unlock(); - } -}; + // add + (*mutex_ptr_).lock(); + current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); + (*mutex_ptr_).unlock(); + } + }; -class DistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - -private: - double distance_threshold_; - std::unique_ptr distance_based_map_loader_; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit DistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); -}; + class DistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter + { + protected: + virtual void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + + private: + double distance_threshold_; + std::unique_ptr distance_based_map_loader_; + + public: + PCL_MAKE_ALIGNED_OPERATOR_NEW + explicit DistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); + }; } // namespace autoware::compare_map_segmentation // clang-format off diff --git a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp index a2e30a3192563..653f6bf821f69 100644 --- a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp +++ b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp @@ -16,11 +16,16 @@ #define VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_ // NOLINT #include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp" -<<<<<<<< HEAD:perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp +<<<<<<<< + HEAD : perception / compare_map_segmentation / src / voxel_based_approximate_compare_map_filter / + node.hpp #include "pointcloud_preprocessor/filter.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" ->>>>>>>> original/main:perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp + >>>>>>>> original / + main : perception / autoware_compare_map_segmentation / src / + voxel_based_approximate_compare_map_filter / + node.hpp #include #include @@ -29,52 +34,51 @@ #include #include -namespace autoware::compare_map_segmentation + namespace autoware::compare_map_segmentation { - -class VoxelBasedApproximateStaticMapLoader : public VoxelGridStaticMapLoader -{ -public: - explicit VoxelBasedApproximateStaticMapLoader( - rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) - : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + class VoxelBasedApproximateStaticMapLoader : public VoxelGridStaticMapLoader { - RCLCPP_INFO(logger_, "VoxelBasedApproximateStaticMapLoader initialized.\n"); - } - bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; -}; + public: + explicit VoxelBasedApproximateStaticMapLoader( + rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, + std::string * tf_map_input_frame, std::mutex * mutex) + : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + { + RCLCPP_INFO(logger_, "VoxelBasedApproximateStaticMapLoader initialized.\n"); + } + bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; + }; -class VoxelBasedApproximateDynamicMapLoader : public VoxelGridDynamicMapLoader -{ -public: - VoxelBasedApproximateDynamicMapLoader( - rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group) - : VoxelGridDynamicMapLoader( - node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex, main_callback_group) + class VoxelBasedApproximateDynamicMapLoader : public VoxelGridDynamicMapLoader { - RCLCPP_INFO(logger_, "VoxelBasedApproximateDynamicMapLoader initialized.\n"); - } - bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; -}; + public: + VoxelBasedApproximateDynamicMapLoader( + rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, + std::string * tf_map_input_frame, std::mutex * mutex, + rclcpp::CallbackGroup::SharedPtr main_callback_group) + : VoxelGridDynamicMapLoader( + node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex, main_callback_group) + { + RCLCPP_INFO(logger_, "VoxelBasedApproximateDynamicMapLoader initialized.\n"); + } + bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; + }; -class VoxelBasedApproximateCompareMapFilterComponent -: public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + class VoxelBasedApproximateCompareMapFilterComponent + : public autoware::pointcloud_preprocessor::Filter + { + protected: + virtual void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); -private: - double distance_threshold_; - std::unique_ptr voxel_based_approximate_map_loader_; + private: + double distance_threshold_; + std::unique_ptr voxel_based_approximate_map_loader_; -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit VoxelBasedApproximateCompareMapFilterComponent(const rclcpp::NodeOptions & options); -}; + public: + PCL_MAKE_ALIGNED_OPERATOR_NEW + explicit VoxelBasedApproximateCompareMapFilterComponent(const rclcpp::NodeOptions & options); + }; } // namespace autoware::compare_map_segmentation // clang-format off diff --git a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp index 5283fa98cfa24..db62669c87094 100644 --- a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp +++ b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp @@ -16,11 +16,14 @@ #define VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_ #include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp" -<<<<<<<< HEAD:perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp +<<<<<<<< + HEAD : perception / compare_map_segmentation / src / voxel_based_compare_map_filter / node.hpp #include "pointcloud_preprocessor/filter.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" ->>>>>>>> original/main:perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp + >>>>>>>> original / + main : perception / autoware_compare_map_segmentation / src / voxel_based_compare_map_filter / + node.hpp #include #include @@ -28,27 +31,27 @@ #include #include -namespace autoware::compare_map_segmentation + namespace autoware::compare_map_segmentation { -class VoxelBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - -private: - // pcl::SegmentDifferences impl_; - std::unique_ptr voxel_grid_map_loader_; - rclcpp::Subscription::SharedPtr sub_map_; - double distance_threshold_; - bool set_map_in_voxel_grid_; - - bool dynamic_map_load_enable_; - -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); -}; + class VoxelBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter + { + protected: + virtual void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + + private: + // pcl::SegmentDifferences impl_; + std::unique_ptr voxel_grid_map_loader_; + rclcpp::Subscription::SharedPtr sub_map_; + double distance_threshold_; + bool set_map_in_voxel_grid_; + + bool dynamic_map_load_enable_; + + public: + PCL_MAKE_ALIGNED_OPERATOR_NEW + explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); + }; } // namespace autoware::compare_map_segmentation #endif // VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_ diff --git a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp index 2f7c5c6efc40a..2199e5ccf476d 100644 --- a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp +++ b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp @@ -16,11 +16,16 @@ #define VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_ // NOLINT #include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp" -<<<<<<<< HEAD:perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp +<<<<<<<< + HEAD : perception / compare_map_segmentation / src / voxel_distance_based_compare_map_filter / + node.hpp #include "pointcloud_preprocessor/filter.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" ->>>>>>>> original/main:perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp + >>>>>>>> original / + main : perception / autoware_compare_map_segmentation / src / + voxel_distance_based_compare_map_filter / + node.hpp #include #include @@ -31,118 +36,118 @@ #include #include -namespace autoware::compare_map_segmentation + namespace autoware::compare_map_segmentation { + typedef typename pcl::Filter::PointCloud PointCloud; + typedef typename PointCloud::Ptr PointCloudPtr; + typedef typename PointCloud::ConstPtr PointCloudConstPtr; -typedef typename pcl::Filter::PointCloud PointCloud; -typedef typename PointCloud::Ptr PointCloudPtr; -typedef typename PointCloud::ConstPtr PointCloudConstPtr; - -class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader -{ -private: - PointCloudConstPtr map_ptr_; - pcl::search::Search::Ptr tree_; - -public: - explicit VoxelDistanceBasedStaticMapLoader( - rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) - : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) - { - RCLCPP_INFO(logger_, "VoxelDistanceBasedStaticMapLoader initialized.\n"); - } - bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; - void onMapCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr map) override; -}; - -class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader -{ -protected: -private: - PointCloudConstPtr map_ptr_; - /* data */ -public: - explicit VoxelDistanceBasedDynamicMapLoader( - rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group) - : VoxelGridDynamicMapLoader( - node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex, main_callback_group) + class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { - RCLCPP_INFO(logger_, "VoxelDistanceBasedDynamicMapLoader initialized.\n"); - } - bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; + private: + PointCloudConstPtr map_ptr_; + pcl::search::Search::Ptr tree_; + + public: + explicit VoxelDistanceBasedStaticMapLoader( + rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, + std::string * tf_map_input_frame, std::mutex * mutex) + : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + { + RCLCPP_INFO(logger_, "VoxelDistanceBasedStaticMapLoader initialized.\n"); + } + bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; + void onMapCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr map) override; + }; - inline void addMapCellAndFilter( - const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add) override + class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader { - map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; - map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; - - pcl::PointCloud map_cell_pc_tmp; - pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); - - VoxelGridPointXYZ map_cell_voxel_grid_tmp; - PointCloudPtr map_cell_downsampled_pc_ptr_tmp; - - auto map_cell_voxel_input_tmp_ptr = - std::make_shared>(map_cell_pc_tmp); - map_cell_voxel_grid_tmp.setLeafSize(voxel_leaf_size_, voxel_leaf_size_, voxel_leaf_size_); - map_cell_downsampled_pc_ptr_tmp.reset(new pcl::PointCloud); - map_cell_voxel_grid_tmp.setInputCloud(map_cell_voxel_input_tmp_ptr); - map_cell_voxel_grid_tmp.setSaveLeafLayout(true); - map_cell_voxel_grid_tmp.filter(*map_cell_downsampled_pc_ptr_tmp); - - MapGridVoxelInfo current_voxel_grid_list_item; - current_voxel_grid_list_item.min_b_x = map_cell_to_add.metadata.min_x; - current_voxel_grid_list_item.min_b_y = map_cell_to_add.metadata.min_y; - current_voxel_grid_list_item.max_b_x = map_cell_to_add.metadata.max_x; - current_voxel_grid_list_item.max_b_y = map_cell_to_add.metadata.max_y; - - current_voxel_grid_list_item.map_cell_voxel_grid.set_voxel_grid( - &(map_cell_voxel_grid_tmp.leaf_layout_), map_cell_voxel_grid_tmp.get_min_b(), - map_cell_voxel_grid_tmp.get_max_b(), map_cell_voxel_grid_tmp.get_div_b(), - map_cell_voxel_grid_tmp.get_divb_mul(), map_cell_voxel_grid_tmp.get_inverse_leaf_size()); - - current_voxel_grid_list_item.map_cell_pc_ptr.reset(new pcl::PointCloud); - current_voxel_grid_list_item.map_cell_pc_ptr = std::move(map_cell_downsampled_pc_ptr_tmp); - - // add kdtree - pcl::search::Search::Ptr tree_tmp; - if (!tree_tmp) { - if (map_cell_voxel_input_tmp_ptr->isOrganized()) { - tree_tmp.reset(new pcl::search::OrganizedNeighbor()); - } else { - tree_tmp.reset(new pcl::search::KdTree(false)); - } + protected: + private: + PointCloudConstPtr map_ptr_; + /* data */ + public: + explicit VoxelDistanceBasedDynamicMapLoader( + rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, + std::string * tf_map_input_frame, std::mutex * mutex, + rclcpp::CallbackGroup::SharedPtr main_callback_group) + : VoxelGridDynamicMapLoader( + node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex, main_callback_group) + { + RCLCPP_INFO(logger_, "VoxelDistanceBasedDynamicMapLoader initialized.\n"); } - tree_tmp->setInputCloud(map_cell_voxel_input_tmp_ptr); - current_voxel_grid_list_item.map_cell_kdtree = tree_tmp; + bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; + + inline void addMapCellAndFilter( + const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add) override + { + map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; + map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; + + pcl::PointCloud map_cell_pc_tmp; + pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); + + VoxelGridPointXYZ map_cell_voxel_grid_tmp; + PointCloudPtr map_cell_downsampled_pc_ptr_tmp; + + auto map_cell_voxel_input_tmp_ptr = + std::make_shared>(map_cell_pc_tmp); + map_cell_voxel_grid_tmp.setLeafSize(voxel_leaf_size_, voxel_leaf_size_, voxel_leaf_size_); + map_cell_downsampled_pc_ptr_tmp.reset(new pcl::PointCloud); + map_cell_voxel_grid_tmp.setInputCloud(map_cell_voxel_input_tmp_ptr); + map_cell_voxel_grid_tmp.setSaveLeafLayout(true); + map_cell_voxel_grid_tmp.filter(*map_cell_downsampled_pc_ptr_tmp); + + MapGridVoxelInfo current_voxel_grid_list_item; + current_voxel_grid_list_item.min_b_x = map_cell_to_add.metadata.min_x; + current_voxel_grid_list_item.min_b_y = map_cell_to_add.metadata.min_y; + current_voxel_grid_list_item.max_b_x = map_cell_to_add.metadata.max_x; + current_voxel_grid_list_item.max_b_y = map_cell_to_add.metadata.max_y; + + current_voxel_grid_list_item.map_cell_voxel_grid.set_voxel_grid( + &(map_cell_voxel_grid_tmp.leaf_layout_), map_cell_voxel_grid_tmp.get_min_b(), + map_cell_voxel_grid_tmp.get_max_b(), map_cell_voxel_grid_tmp.get_div_b(), + map_cell_voxel_grid_tmp.get_divb_mul(), map_cell_voxel_grid_tmp.get_inverse_leaf_size()); + + current_voxel_grid_list_item.map_cell_pc_ptr.reset(new pcl::PointCloud); + current_voxel_grid_list_item.map_cell_pc_ptr = std::move(map_cell_downsampled_pc_ptr_tmp); + + // add kdtree + pcl::search::Search::Ptr tree_tmp; + if (!tree_tmp) { + if (map_cell_voxel_input_tmp_ptr->isOrganized()) { + tree_tmp.reset(new pcl::search::OrganizedNeighbor()); + } else { + tree_tmp.reset(new pcl::search::KdTree(false)); + } + } + tree_tmp->setInputCloud(map_cell_voxel_input_tmp_ptr); + current_voxel_grid_list_item.map_cell_kdtree = tree_tmp; - // add - (*mutex_ptr_).lock(); - current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); - (*mutex_ptr_).unlock(); - } -}; + // add + (*mutex_ptr_).lock(); + current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); + (*mutex_ptr_).unlock(); + } + }; -class VoxelDistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + class VoxelDistanceBasedCompareMapFilterComponent + : public autoware::pointcloud_preprocessor::Filter + { + protected: + virtual void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - void input_target_callback(const PointCloud2ConstPtr map); + void input_target_callback(const PointCloud2ConstPtr map); -private: - std::unique_ptr voxel_distance_based_map_loader_; - double distance_threshold_; + private: + std::unique_ptr voxel_distance_based_map_loader_; + double distance_threshold_; -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit VoxelDistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); -}; + public: + PCL_MAKE_ALIGNED_OPERATOR_NEW + explicit VoxelDistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); + }; } // namespace autoware::compare_map_segmentation // clang-format off diff --git a/perception/ground_segmentation/src/ransac_ground_filter/node.cpp b/perception/ground_segmentation/src/ransac_ground_filter/node.cpp index e62ff2e50316c..774c19e866357 100644 --- a/perception/ground_segmentation/src/ransac_ground_filter/node.cpp +++ b/perception/ground_segmentation/src/ransac_ground_filter/node.cpp @@ -80,13 +80,16 @@ PlaneBasis getPlaneBasis(const Eigen::Vector3d & plane_normal) return basis; } -<<<<<<<< HEAD:perception/ground_segmentation/src/ransac_ground_filter/node.cpp -using pointcloud_preprocessor::get_param; -======== -using autoware::pointcloud_preprocessor::get_param; ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp - -RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptions & options) +< < < < < < < < HEAD : perception / ground_segmentation / src / ransac_ground_filter / + node.cpp using pointcloud_preprocessor::get_param; +== == == == using autoware::pointcloud_preprocessor::get_param; +>>>>>>>> original / + main +: perception / + autoware_ground_segmentation / src / ransac_ground_filter / + node.cpp + + RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptions & options) : Filter("RANSACGroundFilter", options) { base_frame_ = declare_parameter("base_frame", "base_link"); diff --git a/perception/ground_segmentation/src/ray_ground_filter/node.hpp b/perception/ground_segmentation/src/ray_ground_filter/node.hpp index f872a257b5a03..9a2a2d5081a93 100644 --- a/perception/ground_segmentation/src/ray_ground_filter/node.hpp +++ b/perception/ground_segmentation/src/ray_ground_filter/node.hpp @@ -58,13 +58,16 @@ #include #endif -<<<<<<<< HEAD:perception/ground_segmentation/src/ray_ground_filter/node.hpp +<<<<<<<< + HEAD : perception / ground_segmentation / src / ray_ground_filter / node.hpp #include "gencolors.hpp" #include "pointcloud_preprocessor/filter.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" #include "gencolors.hpp" ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/ray_ground_filter/node.hpp + >>>>>>>> original / + main : perception / autoware_ground_segmentation / src / ray_ground_filter / + node.hpp #include #include @@ -80,7 +83,7 @@ #include #include -namespace bg = boost::geometry; + namespace bg = boost::geometry; using Point = bg::model::d2::point_xy; using Polygon = bg::model::polygon; @@ -189,31 +192,33 @@ class RayGroundFilterComponent : public autoware::pointcloud_preprocessor::Filte * @param out_only_indices_cloud_ptr Resulting PointCloud with the indices kept * @param out_removed_indices_cloud_ptr Resulting PointCloud with the indices removed */ - void ExtractPointsIndices( - const PointCloud2::ConstSharedPtr in_cloud_ptr, const pcl::PointIndices & in_indices, -<<<<<<<< HEAD:perception/ground_segmentation/src/ray_ground_filter/node.hpp - PointCloud2::SharedPtr out_only_indices_cloud_ptr, - PointCloud2::SharedPtr out_removed_indices_cloud_ptr); + void ExtractPointsIndices(const PointCloud2::ConstSharedPtr in_cloud_ptr, + const pcl::PointIndices & in_indices, < < < < < < < < HEAD + : perception / ground_segmentation / src / ray_ground_filter / + node.hpp PointCloud2::SharedPtr out_only_indices_cloud_ptr, + PointCloud2::SharedPtr out_removed_indices_cloud_ptr); ======== PointCloud2::SharedPtr ground_cloud_msg_ptr, PointCloud2::SharedPtr no_ground_cloud_msg_ptr); ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/ray_ground_filter/node.hpp +>>>>>>>> original / main : perception / autoware_ground_segmentation / src / ray_ground_filter / + node.hpp - boost::optional calcPointVehicleIntersection(const Point & point); + boost::optional + calcPointVehicleIntersection(const Point & point); - void setVehicleFootprint( - const double min_x, const double max_x, const double min_y, const double max_y); - void initializePointCloud2( - const PointCloud2::ConstSharedPtr & in_cloud_ptr, - const PointCloud2::SharedPtr & out_cloud_msg_ptr); - /** \brief Parameter service callback result : needed to be hold */ - OnSetParametersCallbackHandle::SharedPtr set_param_res_; +void setVehicleFootprint( + const double min_x, const double max_x, const double min_y, const double max_y); +void initializePointCloud2( + const PointCloud2::ConstSharedPtr & in_cloud_ptr, + const PointCloud2::SharedPtr & out_cloud_msg_ptr); +/** \brief Parameter service callback result : needed to be hold */ +OnSetParametersCallbackHandle::SharedPtr set_param_res_; - /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); +/** \brief Parameter service callback */ +rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector & p); public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - explicit RayGroundFilterComponent(const rclcpp::NodeOptions & options); +EIGEN_MAKE_ALIGNED_OPERATOR_NEW +explicit RayGroundFilterComponent(const rclcpp::NodeOptions & options); }; } // namespace autoware::ground_segmentation diff --git a/perception/ground_segmentation/src/scan_ground_filter/node.cpp b/perception/ground_segmentation/src/scan_ground_filter/node.cpp index f79f261a17812..52fd0e71ca11d 100644 --- a/perception/ground_segmentation/src/scan_ground_filter/node.cpp +++ b/perception/ground_segmentation/src/scan_ground_filter/node.cpp @@ -32,12 +32,11 @@ using autoware::universe_utils::normalizeDegree; using autoware::universe_utils::normalizeRadian; using autoware::vehicle_info_utils::VehicleInfoUtils; -ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & options) -<<<<<<<< HEAD:perception/ground_segmentation/src/scan_ground_filter/node.cpp -: pointcloud_preprocessor::Filter("ScanGroundFilter", options) -======== -: autoware::pointcloud_preprocessor::Filter("ScanGroundFilter", options) ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp +ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & options)<<<<<<<< + HEAD : perception / ground_segmentation / src / scan_ground_filter / + node.cpp : pointcloud_preprocessor::Filter("ScanGroundFilter", options) == + == == == : autoware::pointcloud_preprocessor::Filter("ScanGroundFilter", options)>>>>>>>> original + / main : perception / autoware_ground_segmentation / src / scan_ground_filter / node.cpp { // set initial parameters { diff --git a/perception/ground_segmentation/src/scan_ground_filter/node.hpp b/perception/ground_segmentation/src/scan_ground_filter/node.hpp index f2ccd234ce2da..3f6ad785fa519 100644 --- a/perception/ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/ground_segmentation/src/scan_ground_filter/node.hpp @@ -15,15 +15,18 @@ #ifndef SCAN_GROUND_FILTER__NODE_HPP_ #define SCAN_GROUND_FILTER__NODE_HPP_ -<<<<<<<< HEAD:perception/ground_segmentation/src/scan_ground_filter/node.hpp +<<<<<<<< + HEAD : perception / ground_segmentation / src / scan_ground_filter / node.hpp #include "autoware_vehicle_info_utils/vehicle_info.hpp" #include "pointcloud_preprocessor/filter.hpp" #include "pointcloud_preprocessor/transform_info.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/transform_info.hpp" #include "autoware_vehicle_info_utils/vehicle_info.hpp" ->>>>>>>> original/main:perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp + >>>>>>>> original / + main : perception / autoware_ground_segmentation / src / scan_ground_filter / + node.hpp #include @@ -44,7 +47,7 @@ #include #include -class ScanGroundFilterTest; + class ScanGroundFilterTest; namespace autoware::ground_segmentation { diff --git a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp index 589f8b3cefed2..5aa6bcf47def6 100644 --- a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp @@ -17,75 +17,80 @@ #include "autoware/image_projection_based_fusion/fusion_node.hpp" #include "autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp" -<<<<<<<< HEAD:perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp +<<<<<<<< + HEAD : perception / image_projection_based_fusion / include / autoware / + image_projection_based_fusion / pointpainting_fusion / node.hpp #include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp" #include #include #include #include -======== + == == == == #include "autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp" #include #include #include #include ->>>>>>>> original/main:perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp + >>>>>>>> original / + main : perception / autoware_image_projection_based_fusion / include / autoware / + image_projection_based_fusion / pointpainting_fusion / + node.hpp #include #include #include #include -namespace autoware::image_projection_based_fusion + namespace autoware::image_projection_based_fusion { -using Label = autoware_perception_msgs::msg::ObjectClassification; + using Label = autoware_perception_msgs::msg::ObjectClassification; -inline bool isInsideBbox( - float proj_x, float proj_y, sensor_msgs::msg::RegionOfInterest roi, float zc) -{ - // z_c is scaling to normalize projection point - return proj_x >= roi.x_offset * zc && proj_x <= (roi.x_offset + roi.width) * zc && - proj_y >= roi.y_offset * zc && proj_y <= (roi.y_offset + roi.height) * zc; -} + inline bool isInsideBbox( + float proj_x, float proj_y, sensor_msgs::msg::RegionOfInterest roi, float zc) + { + // z_c is scaling to normalize projection point + return proj_x >= roi.x_offset * zc && proj_x <= (roi.x_offset + roi.width) * zc && + proj_y >= roi.y_offset * zc && proj_y <= (roi.y_offset + roi.height) * zc; + } -class PointPaintingFusionNode -: public FusionNode -{ -public: - explicit PointPaintingFusionNode(const rclcpp::NodeOptions & options); + class PointPaintingFusionNode + : public FusionNode + { + public: + explicit PointPaintingFusionNode(const rclcpp::NodeOptions & options); -protected: - void preprocess(sensor_msgs::msg::PointCloud2 & pointcloud_msg) override; + protected: + void preprocess(sensor_msgs::msg::PointCloud2 & pointcloud_msg) override; - void fuseOnSingleImage( - const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const std::size_t image_id, - const DetectedObjectsWithFeature & input_roi_msg, - const sensor_msgs::msg::CameraInfo & camera_info, - sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg) override; + void fuseOnSingleImage( + const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const std::size_t image_id, + const DetectedObjectsWithFeature & input_roi_msg, + const sensor_msgs::msg::CameraInfo & camera_info, + sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg) override; - void postprocess(sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg) override; + void postprocess(sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg) override; - rclcpp::Publisher::SharedPtr obj_pub_ptr_; + rclcpp::Publisher::SharedPtr obj_pub_ptr_; - std::vector tan_h_; // horizontal field of view + std::vector tan_h_; // horizontal field of view - int omp_num_threads_{1}; - float score_threshold_{0.0}; - std::vector class_names_; - std::map class_index_; - std::map> isClassTable_; - std::vector pointcloud_range; - bool has_variance_{false}; - bool has_twist_{false}; + int omp_num_threads_{1}; + float score_threshold_{0.0}; + std::vector class_names_; + std::map class_index_; + std::map> isClassTable_; + std::vector pointcloud_range; + bool has_variance_{false}; + bool has_twist_{false}; - autoware::lidar_centerpoint::NonMaximumSuppression iou_bev_nms_; - autoware::lidar_centerpoint::DetectionClassRemapper detection_class_remapper_; + autoware::lidar_centerpoint::NonMaximumSuppression iou_bev_nms_; + autoware::lidar_centerpoint::DetectionClassRemapper detection_class_remapper_; - std::unique_ptr detector_ptr_{nullptr}; + std::unique_ptr detector_ptr_{nullptr}; - bool out_of_scope(const DetectedObjects & obj); -}; + bool out_of_scope(const DetectedObjects & obj); + }; } // namespace autoware::image_projection_based_fusion #endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ diff --git a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp index 63fb225649f21..ac960aefd0bdb 100644 --- a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp @@ -16,41 +16,46 @@ #define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ #include -<<<<<<<< HEAD:perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp +<<<<<<<< + HEAD : perception / image_projection_based_fusion / include / autoware / + image_projection_based_fusion / pointpainting_fusion / voxel_generator.hpp #include #include -======== + == == == == #include #include ->>>>>>>> original/main:perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp + >>>>>>>> original / + main : perception / autoware_image_projection_based_fusion / include / autoware / + image_projection_based_fusion / pointpainting_fusion / + voxel_generator.hpp #include #include #include -namespace autoware::image_projection_based_fusion + namespace autoware::image_projection_based_fusion { - -class VoxelGenerator -{ -public: - explicit VoxelGenerator( - const autoware::lidar_centerpoint::DensificationParam & param, - const autoware::lidar_centerpoint::CenterPointConfig & config); - - bool enqueuePointCloud( - const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const tf2_ros::Buffer & tf_buffer); - - std::size_t generateSweepPoints(std::vector & points); - -protected: - std::unique_ptr pd_ptr_{nullptr}; - - autoware::lidar_centerpoint::CenterPointConfig config_; - std::array range_; - std::array grid_size_; - std::array recip_voxel_size_; -}; + class VoxelGenerator + { + public: + explicit VoxelGenerator( + const autoware::lidar_centerpoint::DensificationParam & param, + const autoware::lidar_centerpoint::CenterPointConfig & config); + + bool enqueuePointCloud( + const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, + const tf2_ros::Buffer & tf_buffer); + + std::size_t generateSweepPoints(std::vector & points); + + protected: + std::unique_ptr pd_ptr_{nullptr}; + + autoware::lidar_centerpoint::CenterPointConfig config_; + std::array range_; + std::array grid_size_; + std::array recip_voxel_size_; + }; } // namespace autoware::image_projection_based_fusion #endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp index 1e91eeb3732c4..4c0f5f0e4cdbf 100644 --- a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp +++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp @@ -18,10 +18,10 @@ <<<<<<< HEAD #include "autoware/universe_utils/ros/published_time_publisher.hpp" #include "pointcloud_preprocessor/filter.hpp" -======= + ======= #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/universe_utils/ros/published_time_publisher.hpp" ->>>>>>> original/main + >>>>>>> original/main #include #include @@ -45,95 +45,96 @@ #include #include -namespace autoware::occupancy_grid_map_outlier_filter + namespace autoware::occupancy_grid_map_outlier_filter { -using geometry_msgs::msg::Pose; -using nav_msgs::msg::OccupancyGrid; -using sensor_msgs::msg::PointCloud2; -using std_msgs::msg::Header; + using geometry_msgs::msg::Pose; + using nav_msgs::msg::OccupancyGrid; + using sensor_msgs::msg::PointCloud2; + using std_msgs::msg::Header; -class RadiusSearch2dFilter -{ -public: - explicit RadiusSearch2dFilter(rclcpp::Node & node); - void filter( - const PointCloud2 & input, const Pose & pose, PointCloud2 & output, PointCloud2 & outlier); - void filter( - const PointCloud2 & high_conf_input, const PointCloud2 & low_conf_input, const Pose & pose, - PointCloud2 & output, PointCloud2 & outlier); - -private: - float search_radius_; - float min_points_and_distance_ratio_; - int min_points_; - int max_points_; - long unsigned int max_filter_points_nb_; - pcl::search::Search::Ptr kd_tree_; -}; - -class OccupancyGridMapOutlierFilterComponent : public rclcpp::Node -{ -public: - explicit OccupancyGridMapOutlierFilterComponent(const rclcpp::NodeOptions & options); - -private: - void onOccupancyGridMapAndPointCloud2( - const OccupancyGrid::ConstSharedPtr & input_occupancy_grid_map, - const PointCloud2::ConstSharedPtr & input_pointcloud); - void filterByOccupancyGridMap( - const OccupancyGrid & occupancy_grid_map, const PointCloud2 & pointcloud, - PointCloud2 & high_confidence, PointCloud2 & low_confidence, PointCloud2 & out_ogm); - void splitPointCloudFrontBack( - const PointCloud2::ConstSharedPtr & input_pc, PointCloud2 & front_pc, PointCloud2 & behind_pc); - void initializerPointCloud2(const PointCloud2 & input, PointCloud2 & output); - void finalizePointCloud2(const PointCloud2 & input, PointCloud2 & output); - void concatPointCloud2(PointCloud2 & output, const PointCloud2 & input); - -private: - class Debugger + class RadiusSearch2dFilter { public: - explicit Debugger(OccupancyGridMapOutlierFilterComponent & node); - void publishOutlier(const PointCloud2 & input, const Header & header); - void publishHighConfidence(const PointCloud2 & input, const Header & header); - void publishLowConfidence(const PointCloud2 & input, const Header & header); + explicit RadiusSearch2dFilter(rclcpp::Node & node); + void filter( + const PointCloud2 & input, const Pose & pose, PointCloud2 & output, PointCloud2 & outlier); + void filter( + const PointCloud2 & high_conf_input, const PointCloud2 & low_conf_input, const Pose & pose, + PointCloud2 & output, PointCloud2 & outlier); private: - void transformToBaseLink( - const PointCloud2 & input, const Header & header, PointCloud2 & output); - rclcpp::Publisher::SharedPtr outlier_pointcloud_pub_; - rclcpp::Publisher::SharedPtr low_confidence_pointcloud_pub_; - rclcpp::Publisher::SharedPtr high_confidence_pointcloud_pub_; - const OccupancyGridMapOutlierFilterComponent & node_; + float search_radius_; + float min_points_and_distance_ratio_; + int min_points_; + int max_points_; + long unsigned int max_filter_points_nb_; + pcl::search::Search::Ptr kd_tree_; }; -private: - // publishers and subscribers - rclcpp::Publisher::SharedPtr pointcloud_pub_; - message_filters::Subscriber occupancy_grid_map_sub_; - message_filters::Subscriber pointcloud_sub_; - using SyncPolicy = message_filters::sync_policies::ExactTime; - using Sync = message_filters::Synchronizer; - std::shared_ptr sync_ptr_; - - // tf - std::shared_ptr tf2_; - std::shared_ptr tf2_listener_; - - // 2d outlier filter - std::shared_ptr radius_search_2d_filter_ptr_; - - // Debugger - std::shared_ptr debugger_ptr_; - std::unique_ptr> stop_watch_ptr_; - std::unique_ptr debug_publisher_; - std::unique_ptr published_time_publisher_; - - // ROS Parameters - std::string map_frame_; - std::string base_link_frame_; - int cost_threshold_; -}; + class OccupancyGridMapOutlierFilterComponent : public rclcpp::Node + { + public: + explicit OccupancyGridMapOutlierFilterComponent(const rclcpp::NodeOptions & options); + + private: + void onOccupancyGridMapAndPointCloud2( + const OccupancyGrid::ConstSharedPtr & input_occupancy_grid_map, + const PointCloud2::ConstSharedPtr & input_pointcloud); + void filterByOccupancyGridMap( + const OccupancyGrid & occupancy_grid_map, const PointCloud2 & pointcloud, + PointCloud2 & high_confidence, PointCloud2 & low_confidence, PointCloud2 & out_ogm); + void splitPointCloudFrontBack( + const PointCloud2::ConstSharedPtr & input_pc, PointCloud2 & front_pc, + PointCloud2 & behind_pc); + void initializerPointCloud2(const PointCloud2 & input, PointCloud2 & output); + void finalizePointCloud2(const PointCloud2 & input, PointCloud2 & output); + void concatPointCloud2(PointCloud2 & output, const PointCloud2 & input); + + private: + class Debugger + { + public: + explicit Debugger(OccupancyGridMapOutlierFilterComponent & node); + void publishOutlier(const PointCloud2 & input, const Header & header); + void publishHighConfidence(const PointCloud2 & input, const Header & header); + void publishLowConfidence(const PointCloud2 & input, const Header & header); + + private: + void transformToBaseLink( + const PointCloud2 & input, const Header & header, PointCloud2 & output); + rclcpp::Publisher::SharedPtr outlier_pointcloud_pub_; + rclcpp::Publisher::SharedPtr low_confidence_pointcloud_pub_; + rclcpp::Publisher::SharedPtr high_confidence_pointcloud_pub_; + const OccupancyGridMapOutlierFilterComponent & node_; + }; + + private: + // publishers and subscribers + rclcpp::Publisher::SharedPtr pointcloud_pub_; + message_filters::Subscriber occupancy_grid_map_sub_; + message_filters::Subscriber pointcloud_sub_; + using SyncPolicy = message_filters::sync_policies::ExactTime; + using Sync = message_filters::Synchronizer; + std::shared_ptr sync_ptr_; + + // tf + std::shared_ptr tf2_; + std::shared_ptr tf2_listener_; + + // 2d outlier filter + std::shared_ptr radius_search_2d_filter_ptr_; + + // Debugger + std::shared_ptr debugger_ptr_; + std::unique_ptr> stop_watch_ptr_; + std::unique_ptr debug_publisher_; + std::unique_ptr published_time_publisher_; + + // ROS Parameters + std::string map_frame_; + std::string base_link_frame_; + int cost_threshold_; + }; } // namespace autoware::occupancy_grid_map_outlier_filter #endif // OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_ diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp index ca0008e72c65f..d6c2b4dceab61 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp @@ -38,118 +38,118 @@ #include #include -namespace autoware::path_optimizer + namespace autoware::path_optimizer { -class PathOptimizer : public rclcpp::Node -{ -public: - explicit PathOptimizer(const rclcpp::NodeOptions & node_options); - - // NOTE: This is for the static_centerline_generator package which utilizes the following - // instance. - std::shared_ptr getMPTOptimizer() const { return mpt_optimizer_ptr_; } - - // private: -protected: // for the static_centerline_generator package - // TODO(murooka) move this node to common - class DrivingDirectionChecker + class PathOptimizer : public rclcpp::Node { public: - bool isDrivingForward(const std::vector & path_points) + explicit PathOptimizer(const rclcpp::NodeOptions & node_options); + + // NOTE: This is for the static_centerline_generator package which utilizes the following + // instance. + std::shared_ptr getMPTOptimizer() const { return mpt_optimizer_ptr_; } + + // private: + protected: // for the static_centerline_generator package + // TODO(murooka) move this node to common + class DrivingDirectionChecker { - const auto is_driving_forward = autoware::motion_utils::isDrivingForward(path_points); - is_driving_forward_ = is_driving_forward ? is_driving_forward.value() : is_driving_forward_; - return is_driving_forward_; - } + public: + bool isDrivingForward(const std::vector & path_points) + { + const auto is_driving_forward = autoware::motion_utils::isDrivingForward(path_points); + is_driving_forward_ = is_driving_forward ? is_driving_forward.value() : is_driving_forward_; + return is_driving_forward_; + } + + private: + bool is_driving_forward_{true}; + }; + DrivingDirectionChecker driving_direction_checker_{}; + + // argument variables + autoware::vehicle_info_utils::VehicleInfo vehicle_info_{}; + mutable std::shared_ptr debug_data_ptr_{nullptr}; + mutable std::shared_ptr time_keeper_{nullptr}; + + // flags for some functions + bool enable_pub_debug_marker_; + bool enable_pub_extra_debug_marker_; + bool enable_debug_info_; + bool enable_outside_drivable_area_stop_; + bool enable_skip_optimization_; + bool enable_reset_prev_optimization_; + bool use_footprint_polygon_for_outside_drivable_area_check_; + + // core algorithms + std::shared_ptr replan_checker_ptr_{nullptr}; + std::shared_ptr mpt_optimizer_ptr_{nullptr}; + + // parameters + TrajectoryParam traj_param_{}; + EgoNearestParam ego_nearest_param_{}; + + // interface publisher + rclcpp::Publisher::SharedPtr traj_pub_; + rclcpp::Publisher::SharedPtr virtual_wall_pub_; + + // interface subscriber + rclcpp::Subscription::SharedPtr path_sub_; + autoware::universe_utils::InterProcessPollingSubscriber ego_odom_sub_{ + this, "~/input/odometry"}; + + // debug publisher + rclcpp::Publisher::SharedPtr debug_extended_traj_pub_; + rclcpp::Publisher::SharedPtr debug_markers_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_str_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_float_pub_; + rclcpp::Publisher::SharedPtr + debug_processing_time_detail_pub_; + + // parameter callback + rcl_interfaces::msg::SetParametersResult onParam( + const std::vector & parameters); + OnSetParametersCallbackHandle::SharedPtr set_param_res_; + + // subscriber callback function + void onPath(const Path::ConstSharedPtr path_ptr); + + // reset functions + void initializePlanning(); + void resetPreviousData(); + + // main functions + bool checkInputPath(const Path & path, rclcpp::Clock clock) const; + PlannerData createPlannerData( + const Path & path, const Odometry::ConstSharedPtr ego_odom_ptr) const; + std::vector generateOptimizedTrajectory(const PlannerData & planner_data); + std::vector extendTrajectory( + const std::vector & traj_points, + const std::vector & optimized_points) const; + void publishDebugData(const Header & header) const; + + // functions in generateOptimizedTrajectory + std::vector optimizeTrajectory(const PlannerData & planner_data); + std::vector getPrevOptimizedTrajectory( + const std::vector & traj_points) const; + void applyInputVelocity( + std::vector & output_traj_points, + const std::vector & input_traj_points, + const geometry_msgs::msg::Pose & ego_pose) const; + void insertZeroVelocityOutsideDrivableArea( + const PlannerData & planner_data, std::vector & traj_points) const; + void publishVirtualWall(const geometry_msgs::msg::Pose & stop_pose) const; + void publishDebugMarkerOfOptimization(const std::vector & traj_points) const; private: - bool is_driving_forward_{true}; + double vehicle_stop_margin_outside_drivable_area_; + + std::unique_ptr logger_configure_; + + std::unique_ptr published_time_publisher_; + + autoware::universe_utils::StopWatch stop_watch_; }; - DrivingDirectionChecker driving_direction_checker_{}; - - // argument variables - autoware::vehicle_info_utils::VehicleInfo vehicle_info_{}; - mutable std::shared_ptr debug_data_ptr_{nullptr}; - mutable std::shared_ptr time_keeper_{nullptr}; - - // flags for some functions - bool enable_pub_debug_marker_; - bool enable_pub_extra_debug_marker_; - bool enable_debug_info_; - bool enable_outside_drivable_area_stop_; - bool enable_skip_optimization_; - bool enable_reset_prev_optimization_; - bool use_footprint_polygon_for_outside_drivable_area_check_; - - // core algorithms - std::shared_ptr replan_checker_ptr_{nullptr}; - std::shared_ptr mpt_optimizer_ptr_{nullptr}; - - // parameters - TrajectoryParam traj_param_{}; - EgoNearestParam ego_nearest_param_{}; - - // interface publisher - rclcpp::Publisher::SharedPtr traj_pub_; - rclcpp::Publisher::SharedPtr virtual_wall_pub_; - - // interface subscriber - rclcpp::Subscription::SharedPtr path_sub_; - autoware::universe_utils::InterProcessPollingSubscriber ego_odom_sub_{ - this, "~/input/odometry"}; - - // debug publisher - rclcpp::Publisher::SharedPtr debug_extended_traj_pub_; - rclcpp::Publisher::SharedPtr debug_markers_pub_; - rclcpp::Publisher::SharedPtr debug_calculation_time_str_pub_; - rclcpp::Publisher::SharedPtr debug_calculation_time_float_pub_; - rclcpp::Publisher::SharedPtr - debug_processing_time_detail_pub_; - - // parameter callback - rcl_interfaces::msg::SetParametersResult onParam( - const std::vector & parameters); - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - // subscriber callback function - void onPath(const Path::ConstSharedPtr path_ptr); - - // reset functions - void initializePlanning(); - void resetPreviousData(); - - // main functions - bool checkInputPath(const Path & path, rclcpp::Clock clock) const; - PlannerData createPlannerData( - const Path & path, const Odometry::ConstSharedPtr ego_odom_ptr) const; - std::vector generateOptimizedTrajectory(const PlannerData & planner_data); - std::vector extendTrajectory( - const std::vector & traj_points, - const std::vector & optimized_points) const; - void publishDebugData(const Header & header) const; - - // functions in generateOptimizedTrajectory - std::vector optimizeTrajectory(const PlannerData & planner_data); - std::vector getPrevOptimizedTrajectory( - const std::vector & traj_points) const; - void applyInputVelocity( - std::vector & output_traj_points, - const std::vector & input_traj_points, - const geometry_msgs::msg::Pose & ego_pose) const; - void insertZeroVelocityOutsideDrivableArea( - const PlannerData & planner_data, std::vector & traj_points) const; - void publishVirtualWall(const geometry_msgs::msg::Pose & stop_pose) const; - void publishDebugMarkerOfOptimization(const std::vector & traj_points) const; - -private: - double vehicle_stop_margin_outside_drivable_area_; - - std::unique_ptr logger_configure_; - - std::unique_ptr published_time_publisher_; - - autoware::universe_utils::StopWatch stop_watch_; -}; } // namespace autoware::path_optimizer #endif // AUTOWARE__PATH_OPTIMIZER__NODE_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp index 78cdb80838678..e772bed6ecea4 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp @@ -12,17 +12,22 @@ // See the License for the specific language governing permissions and // limitations under the License. -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp -#ifndef POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ -#define POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ +<<<<<<<< + HEAD : sensing / autoware_pointcloud_preprocessor / include / pointcloud_preprocessor / + distortion_corrector / distortion_corrector_node.hpp +#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ +#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ #include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" -======== + == == == == #ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ #define AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp + >>>>>>>> original / + main : sensing / autoware_pointcloud_preprocessor / include / autoware / pointcloud_preprocessor / + distortion_corrector / + distortion_corrector_node.hpp #include #include @@ -36,41 +41,45 @@ #include #include -namespace autoware::pointcloud_preprocessor + namespace autoware::pointcloud_preprocessor { -using rcl_interfaces::msg::SetParametersResult; -using sensor_msgs::msg::PointCloud2; + using rcl_interfaces::msg::SetParametersResult; + using sensor_msgs::msg::PointCloud2; -class DistortionCorrectorComponent : public rclcpp::Node -{ -public: - explicit DistortionCorrectorComponent(const rclcpp::NodeOptions & options); + class DistortionCorrectorComponent : public rclcpp::Node + { + public: + explicit DistortionCorrectorComponent(const rclcpp::NodeOptions & options); -private: - rclcpp::Subscription::SharedPtr twist_sub_; - rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription::SharedPtr pointcloud_sub_; + private: + rclcpp::Subscription::SharedPtr twist_sub_; + rclcpp::Subscription::SharedPtr imu_sub_; + rclcpp::Subscription::SharedPtr pointcloud_sub_; - rclcpp::Publisher::SharedPtr undistorted_pointcloud_pub_; + rclcpp::Publisher::SharedPtr undistorted_pointcloud_pub_; - std::unique_ptr> stop_watch_ptr_; - std::unique_ptr debug_publisher_; + std::unique_ptr> stop_watch_ptr_; + std::unique_ptr debug_publisher_; - std::string base_frame_; - bool use_imu_; - bool use_3d_distortion_correction_; + std::string base_frame_; + bool use_imu_; + bool use_3d_distortion_correction_; - std::unique_ptr distortion_corrector_; + std::unique_ptr distortion_corrector_; - void onPointCloud(PointCloud2::UniquePtr points_msg); - void onTwist(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); - void onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); -}; + void onPointCloud(PointCloud2::UniquePtr points_msg); + void onTwist(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); + void onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); + }; } // namespace autoware::pointcloud_preprocessor -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp +<<<<<<<< + HEAD : sensing / autoware_pointcloud_preprocessor / include / pointcloud_preprocessor / + distortion_corrector / distortion_corrector_node.hpp #endif // POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ -======== + == == == == #endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_NODE_HPP_ ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp + >>>>>>>> original / + main : sensing / autoware_pointcloud_preprocessor / include / autoware / pointcloud_preprocessor / + distortion_corrector / distortion_corrector_node.hpp diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp index f52f2f306c69b..a2451a6d29600 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp @@ -15,13 +15,18 @@ #ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__POLYGON_REMOVER__POLYGON_REMOVER_HPP_ #define AUTOWARE__POINTCLOUD_PREPROCESSOR__POLYGON_REMOVER__POLYGON_REMOVER_HPP_ -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp +<<<<<<<< + HEAD : sensing / autoware_pointcloud_preprocessor / include / pointcloud_preprocessor / + polygon_remover / polygon_remover.hpp #include "pointcloud_preprocessor/filter.hpp" #include "pointcloud_preprocessor/utility/geometry.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/utility/geometry.hpp" ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp + >>>>>>>> original / + main : sensing / autoware_pointcloud_preprocessor / include / autoware / pointcloud_preprocessor / + polygon_remover / + polygon_remover.hpp #include #include @@ -32,39 +37,39 @@ #include -namespace autoware::pointcloud_preprocessor + namespace autoware::pointcloud_preprocessor { -class PolygonRemoverComponent : public autoware::pointcloud_preprocessor::Filter -{ -protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + class PolygonRemoverComponent : public autoware::pointcloud_preprocessor::Filter + { + protected: + virtual void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); - void publishRemovedPolygon(); + void publishRemovedPolygon(); - void update_polygon(const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in); - static PolygonCgal polygon_geometry_to_cgal( - const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in); - PointCloud2 remove_updated_polygon_from_cloud(const PointCloud2ConstPtr & cloud_in); - PointCloud2 remove_polygon_cgal_from_cloud( - const PointCloud2::ConstSharedPtr & cloud_in_ptr, const PolygonCgal & polyline_polygon); + void update_polygon(const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in); + static PolygonCgal polygon_geometry_to_cgal( + const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in); + PointCloud2 remove_updated_polygon_from_cloud(const PointCloud2ConstPtr & cloud_in); + PointCloud2 remove_polygon_cgal_from_cloud( + const PointCloud2::ConstSharedPtr & cloud_in_ptr, const PolygonCgal & polyline_polygon); -private: - rclcpp::Parameter param; - std::vector polygon_vertices_; - geometry_msgs::msg::Polygon::SharedPtr polygon_; + private: + rclcpp::Parameter param; + std::vector polygon_vertices_; + geometry_msgs::msg::Polygon::SharedPtr polygon_; - bool polygon_is_initialized_; - bool will_visualize_; - PolygonCgal polygon_cgal_; - visualization_msgs::msg::Marker marker_; + bool polygon_is_initialized_; + bool will_visualize_; + PolygonCgal polygon_cgal_; + visualization_msgs::msg::Marker marker_; - rclcpp::Publisher::SharedPtr pub_marker_ptr_; + rclcpp::Publisher::SharedPtr pub_marker_ptr_; -public: - PCL_MAKE_ALIGNED_OPERATOR_NEW - explicit PolygonRemoverComponent(const rclcpp::NodeOptions & options); -}; + public: + PCL_MAKE_ALIGNED_OPERATOR_NEW + explicit PolygonRemoverComponent(const rclcpp::NodeOptions & options); + }; } // namespace autoware::pointcloud_preprocessor #endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__POLYGON_REMOVER__POLYGON_REMOVER_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/utility/geometry.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/utility/geometry.hpp index c019fd04f6c87..7f31d6ae9e019 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/utility/geometry.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/utility/geometry.hpp @@ -12,13 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp -#ifndef POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ -#define POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ -======== +<<<<<<<< + HEAD : sensing / autoware_pointcloud_preprocessor / include / pointcloud_preprocessor / utility / + geometry.hpp #ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ #define AUTOWARE__POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/utility/geometry.hpp + == == == == +#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ +#define AUTOWARE__POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ + >>>>>>>> original / + main : sensing / autoware_pointcloud_preprocessor / include / autoware / pointcloud_preprocessor / + utility / + geometry.hpp #include #include @@ -34,7 +39,7 @@ #include #include -using K = CGAL::Exact_predicates_inexact_constructions_kernel; + using K = CGAL::Exact_predicates_inexact_constructions_kernel; using PointCgal = K::Point_2; using PolygonCgal = std::vector; @@ -86,12 +91,14 @@ void remove_polygon_cgal_from_cloud( bool point_within_cgal_polys( const pcl::PointXYZ & point, const std::vector & polyline_polygons); -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/utility/geometry.hpp +< < < < < < < < HEAD : sensing / autoware_pointcloud_preprocessor / include / + pointcloud_preprocessor / utility / geometry.hpp } // namespace pointcloud_preprocessor::utils #endif // POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ -======== +== == == == } // namespace autoware::pointcloud_preprocessor::utils #endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__UTILITY__GEOMETRY_HPP_ ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/utility/geometry.hpp +>>>>>>>> original / main : sensing / autoware_pointcloud_preprocessor / include / autoware / + pointcloud_preprocessor / utility / geometry.hpp diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp index 834de2c1782db..143185afe48a7 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp @@ -15,13 +15,18 @@ #ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_ #define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_ -<<<<<<<< HEAD:sensing/autoware_pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp +<<<<<<<< + HEAD : sensing / autoware_pointcloud_preprocessor / include / pointcloud_preprocessor / + vector_map_filter / vector_map_inside_area_filter.hpp #include "pointcloud_preprocessor/filter.hpp" #include "pointcloud_preprocessor/utility/geometry.hpp" -======== + == == == == #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/utility/geometry.hpp" ->>>>>>>> original/main:sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp + >>>>>>>> original / + main : sensing / autoware_pointcloud_preprocessor / include / autoware / pointcloud_preprocessor / + vector_map_filter / + vector_map_inside_area_filter.hpp #include #include @@ -31,7 +36,7 @@ #include -using autoware::universe_utils::MultiPoint2d; + using autoware::universe_utils::MultiPoint2d; namespace autoware::pointcloud_preprocessor { diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index 1626f77c0fcc1..8cce471cecf32 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -52,7 +52,6 @@ #include "autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp" #include "autoware/pointcloud_preprocessor/utility/memory.hpp" - #include "pointcloud_preprocessor/utility/memory.hpp" #include diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index b66e440d5e2d4..41f9131402685 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -15,7 +15,6 @@ #include "autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp" #include "autoware/pointcloud_preprocessor/utility/memory.hpp" - #include "pointcloud_preprocessor/utility/memory.hpp" #include diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index b8350a5f10958..d742e49b11d55 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -18,460 +18,461 @@ #include "pointcloud_preprocessor/utility/memory.hpp" ======= #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" - #include "autoware/pointcloud_preprocessor/utility/memory.hpp" ->>>>>>> original/main + >>>>>>> original/main #include #include -<<<<<<< HEAD -namespace pointcloud_preprocessor + <<<<<<< HEAD namespace pointcloud_preprocessor ======= namespace autoware::pointcloud_preprocessor >>>>>>> original/main { + template + bool DistortionCorrector::pointcloud_transform_exists() + { + return pointcloud_transform_exists_; + } -template -bool DistortionCorrector::pointcloud_transform_exists() -{ - return pointcloud_transform_exists_; -} - -template -bool DistortionCorrector::pointcloud_transform_needed() -{ - return pointcloud_transform_needed_; -} + template + bool DistortionCorrector::pointcloud_transform_needed() + { + return pointcloud_transform_needed_; + } -template -std::deque DistortionCorrector::get_twist_queue() -{ - return twist_queue_; -} + template + std::deque DistortionCorrector::get_twist_queue() + { + return twist_queue_; + } -template -std::deque DistortionCorrector::get_angular_velocity_queue() -{ - return angular_velocity_queue_; -} + template + std::deque + DistortionCorrector::get_angular_velocity_queue() + { + return angular_velocity_queue_; + } -template -void DistortionCorrector::processTwistMessage( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) -{ - geometry_msgs::msg::TwistStamped msg; - msg.header = twist_msg->header; - msg.twist = twist_msg->twist.twist; - twist_queue_.push_back(msg); - - while (!twist_queue_.empty()) { - // for replay rosbag - if (rclcpp::Time(twist_queue_.front().header.stamp) > rclcpp::Time(twist_msg->header.stamp)) { - twist_queue_.pop_front(); - } else if ( // NOLINT - rclcpp::Time(twist_queue_.front().header.stamp) < - rclcpp::Time(twist_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { - twist_queue_.pop_front(); - } else { - break; + template + void DistortionCorrector::processTwistMessage( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) + { + geometry_msgs::msg::TwistStamped msg; + msg.header = twist_msg->header; + msg.twist = twist_msg->twist.twist; + twist_queue_.push_back(msg); + + while (!twist_queue_.empty()) { + // for replay rosbag + if (rclcpp::Time(twist_queue_.front().header.stamp) > rclcpp::Time(twist_msg->header.stamp)) { + twist_queue_.pop_front(); + } else if ( // NOLINT + rclcpp::Time(twist_queue_.front().header.stamp) < + rclcpp::Time(twist_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { + twist_queue_.pop_front(); + } else { + break; + } } } -} - -template -void DistortionCorrector::processIMUMessage( - const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) -{ - getIMUTransformation(base_frame, imu_msg->header.frame_id); - enqueueIMU(imu_msg); -} -template -void DistortionCorrector::getIMUTransformation( - const std::string & base_frame, const std::string & imu_frame) -{ - if (imu_transform_exists_) { - return; + template + void DistortionCorrector::processIMUMessage( + const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) + { + getIMUTransformation(base_frame, imu_msg->header.frame_id); + enqueueIMU(imu_msg); } - geometry_imu_to_base_link_ptr_ = std::make_shared(); + template + void DistortionCorrector::getIMUTransformation( + const std::string & base_frame, const std::string & imu_frame) + { + if (imu_transform_exists_) { + return; + } - tf2::Transform tf2_imu_to_base_link; - if (base_frame == imu_frame) { - tf2_imu_to_base_link.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); - tf2_imu_to_base_link.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); - imu_transform_exists_ = true; - } else { - try { - const auto transform_msg = - tf_buffer_.lookupTransform(base_frame, imu_frame, tf2::TimePointZero); - tf2::convert(transform_msg.transform, tf2_imu_to_base_link); - imu_transform_exists_ = true; - } catch (const tf2::TransformException & ex) { - RCLCPP_WARN(node_->get_logger(), "%s", ex.what()); - RCLCPP_ERROR( - node_->get_logger(), "Please publish TF %s to %s", base_frame.c_str(), imu_frame.c_str()); + geometry_imu_to_base_link_ptr_ = std::make_shared(); + tf2::Transform tf2_imu_to_base_link; + if (base_frame == imu_frame) { tf2_imu_to_base_link.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); tf2_imu_to_base_link.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); + imu_transform_exists_ = true; + } else { + try { + const auto transform_msg = + tf_buffer_.lookupTransform(base_frame, imu_frame, tf2::TimePointZero); + tf2::convert(transform_msg.transform, tf2_imu_to_base_link); + imu_transform_exists_ = true; + } catch (const tf2::TransformException & ex) { + RCLCPP_WARN(node_->get_logger(), "%s", ex.what()); + RCLCPP_ERROR( + node_->get_logger(), "Please publish TF %s to %s", base_frame.c_str(), imu_frame.c_str()); + + tf2_imu_to_base_link.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); + tf2_imu_to_base_link.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); + } } - } - geometry_imu_to_base_link_ptr_->transform.rotation = - tf2::toMsg(tf2_imu_to_base_link.getRotation()); -} + geometry_imu_to_base_link_ptr_->transform.rotation = + tf2::toMsg(tf2_imu_to_base_link.getRotation()); + } -template -void DistortionCorrector::enqueueIMU(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) -{ - geometry_msgs::msg::Vector3Stamped angular_velocity; - angular_velocity.vector = imu_msg->angular_velocity; - - geometry_msgs::msg::Vector3Stamped transformed_angular_velocity; - tf2::doTransform(angular_velocity, transformed_angular_velocity, *geometry_imu_to_base_link_ptr_); - transformed_angular_velocity.header = imu_msg->header; - angular_velocity_queue_.push_back(transformed_angular_velocity); - - while (!angular_velocity_queue_.empty()) { - // for replay rosbag - if ( - rclcpp::Time(angular_velocity_queue_.front().header.stamp) > - rclcpp::Time(imu_msg->header.stamp)) { - angular_velocity_queue_.pop_front(); - } else if ( // NOLINT - rclcpp::Time(angular_velocity_queue_.front().header.stamp) < - rclcpp::Time(imu_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { - angular_velocity_queue_.pop_front(); - } else { - break; + template + void DistortionCorrector::enqueueIMU(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) + { + geometry_msgs::msg::Vector3Stamped angular_velocity; + angular_velocity.vector = imu_msg->angular_velocity; + + geometry_msgs::msg::Vector3Stamped transformed_angular_velocity; + tf2::doTransform( + angular_velocity, transformed_angular_velocity, *geometry_imu_to_base_link_ptr_); + transformed_angular_velocity.header = imu_msg->header; + angular_velocity_queue_.push_back(transformed_angular_velocity); + + while (!angular_velocity_queue_.empty()) { + // for replay rosbag + if ( + rclcpp::Time(angular_velocity_queue_.front().header.stamp) > + rclcpp::Time(imu_msg->header.stamp)) { + angular_velocity_queue_.pop_front(); + } else if ( // NOLINT + rclcpp::Time(angular_velocity_queue_.front().header.stamp) < + rclcpp::Time(imu_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { + angular_velocity_queue_.pop_front(); + } else { + break; + } } } -} -template -void DistortionCorrector::getTwistAndIMUIterator( - bool use_imu, double first_point_time_stamp_sec, - std::deque::iterator & it_twist, - std::deque::iterator & it_imu) -{ - it_twist = std::lower_bound( - std::begin(twist_queue_), std::end(twist_queue_), first_point_time_stamp_sec, - [](const geometry_msgs::msg::TwistStamped & x, const double t) { - return rclcpp::Time(x.header.stamp).seconds() < t; - }); - it_twist = it_twist == std::end(twist_queue_) ? std::end(twist_queue_) - 1 : it_twist; - - if (use_imu && !angular_velocity_queue_.empty()) { - it_imu = std::lower_bound( - std::begin(angular_velocity_queue_), std::end(angular_velocity_queue_), - first_point_time_stamp_sec, [](const geometry_msgs::msg::Vector3Stamped & x, const double t) { + template + void DistortionCorrector::getTwistAndIMUIterator( + bool use_imu, double first_point_time_stamp_sec, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu) + { + it_twist = std::lower_bound( + std::begin(twist_queue_), std::end(twist_queue_), first_point_time_stamp_sec, + [](const geometry_msgs::msg::TwistStamped & x, const double t) { return rclcpp::Time(x.header.stamp).seconds() < t; }); - it_imu = - it_imu == std::end(angular_velocity_queue_) ? std::end(angular_velocity_queue_) - 1 : it_imu; - } -} + it_twist = it_twist == std::end(twist_queue_) ? std::end(twist_queue_) - 1 : it_twist; -template -bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud) -{ - if (pointcloud.data.empty() || twist_queue_.empty()) { - RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "input pointcloud or twist_queue_ is empty."); - return false; + if (use_imu && !angular_velocity_queue_.empty()) { + it_imu = std::lower_bound( + std::begin(angular_velocity_queue_), std::end(angular_velocity_queue_), + first_point_time_stamp_sec, + [](const geometry_msgs::msg::Vector3Stamped & x, const double t) { + return rclcpp::Time(x.header.stamp).seconds() < t; + }); + it_imu = it_imu == std::end(angular_velocity_queue_) ? std::end(angular_velocity_queue_) - 1 + : it_imu; + } } - auto time_stamp_field_it = std::find_if( - std::cbegin(pointcloud.fields), std::cend(pointcloud.fields), - [](const sensor_msgs::msg::PointField & field) { return field.name == "time_stamp"; }); - if (time_stamp_field_it == pointcloud.fields.cend()) { - RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "Required field time stamp doesn't exist in the point cloud."); - return false; - } + template + bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud) + { + if (pointcloud.data.empty() || twist_queue_.empty()) { + RCLCPP_WARN_STREAM_THROTTLE( + node_->get_logger(), *node_->get_clock(), 10000 /* ms */, + "input pointcloud or twist_queue_ is empty."); + return false; + } - if (!utils::is_data_layout_compatible_with_point_xyzircaedt(pointcloud)) { - RCLCPP_ERROR( - node_->get_logger(), - "The pointcloud layout is not compatible with PointXYZIRCAEDT. Aborting"); + auto time_stamp_field_it = std::find_if( + std::cbegin(pointcloud.fields), std::cend(pointcloud.fields), + [](const sensor_msgs::msg::PointField & field) { return field.name == "time_stamp"; }); + if (time_stamp_field_it == pointcloud.fields.cend()) { + RCLCPP_WARN_STREAM_THROTTLE( + node_->get_logger(), *node_->get_clock(), 10000 /* ms */, + "Required field time stamp doesn't exist in the point cloud."); + return false; + } - if (utils::is_data_layout_compatible_with_point_xyziradrt(pointcloud)) { + if (!utils::is_data_layout_compatible_with_point_xyzircaedt(pointcloud)) { RCLCPP_ERROR( node_->get_logger(), - "The pointcloud layout is compatible with PointXYZIRADRT. You may be using legacy " - "code/data"); - } + "The pointcloud layout is not compatible with PointXYZIRCAEDT. Aborting"); - return false; - } + if (utils::is_data_layout_compatible_with_point_xyziradrt(pointcloud)) { + RCLCPP_ERROR( + node_->get_logger(), + "The pointcloud layout is compatible with PointXYZIRADRT. You may be using legacy " + "code/data"); + } - return true; -} + return false; + } -template -void DistortionCorrector::undistortPointCloud( - bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) -{ - if (!isInputValid(pointcloud)) return; - - sensor_msgs::PointCloud2Iterator it_x(pointcloud, "x"); - sensor_msgs::PointCloud2Iterator it_y(pointcloud, "y"); - sensor_msgs::PointCloud2Iterator it_z(pointcloud, "z"); - sensor_msgs::PointCloud2ConstIterator it_time_stamp(pointcloud, "time_stamp"); - - double prev_time_stamp_sec{ - pointcloud.header.stamp.sec + 1e-9 * (pointcloud.header.stamp.nanosec + *it_time_stamp)}; - const double first_point_time_stamp_sec{ - pointcloud.header.stamp.sec + 1e-9 * (pointcloud.header.stamp.nanosec + *it_time_stamp)}; - - std::deque::iterator it_twist; - std::deque::iterator it_imu; - getTwistAndIMUIterator(use_imu, first_point_time_stamp_sec, it_twist, it_imu); - - // For performance, do not instantiate `rclcpp::Time` inside of the for-loop - double twist_stamp = rclcpp::Time(it_twist->header.stamp).seconds(); - double imu_stamp{0.0}; - if (use_imu && !angular_velocity_queue_.empty()) { - imu_stamp = rclcpp::Time(it_imu->header.stamp).seconds(); + return true; } - // If there is a point in a pointcloud that cannot be associated, record it to issue a warning - bool is_twist_time_stamp_too_late = false; - bool is_imu_time_stamp_too_late = false; - bool is_twist_valid = true; - bool is_imu_valid = true; - double global_point_stamp; + template + void DistortionCorrector::undistortPointCloud( + bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) + { + if (!isInputValid(pointcloud)) return; + + sensor_msgs::PointCloud2Iterator it_x(pointcloud, "x"); + sensor_msgs::PointCloud2Iterator it_y(pointcloud, "y"); + sensor_msgs::PointCloud2Iterator it_z(pointcloud, "z"); + sensor_msgs::PointCloud2ConstIterator it_time_stamp(pointcloud, "time_stamp"); + + double prev_time_stamp_sec{ + pointcloud.header.stamp.sec + 1e-9 * (pointcloud.header.stamp.nanosec + *it_time_stamp)}; + const double first_point_time_stamp_sec{ + pointcloud.header.stamp.sec + 1e-9 * (pointcloud.header.stamp.nanosec + *it_time_stamp)}; + + std::deque::iterator it_twist; + std::deque::iterator it_imu; + getTwistAndIMUIterator(use_imu, first_point_time_stamp_sec, it_twist, it_imu); + + // For performance, do not instantiate `rclcpp::Time` inside of the for-loop + double twist_stamp = rclcpp::Time(it_twist->header.stamp).seconds(); + double imu_stamp{0.0}; + if (use_imu && !angular_velocity_queue_.empty()) { + imu_stamp = rclcpp::Time(it_imu->header.stamp).seconds(); + } - for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_time_stamp) { - is_twist_valid = true; - is_imu_valid = true; + // If there is a point in a pointcloud that cannot be associated, record it to issue a warning + bool is_twist_time_stamp_too_late = false; + bool is_imu_time_stamp_too_late = false; + bool is_twist_valid = true; + bool is_imu_valid = true; + double global_point_stamp; - global_point_stamp = - pointcloud.header.stamp.sec + 1e-9 * (pointcloud.header.stamp.nanosec + *it_time_stamp); + for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z, ++it_time_stamp) { + is_twist_valid = true; + is_imu_valid = true; - // Get closest twist information - while (it_twist != std::end(twist_queue_) - 1 && global_point_stamp > twist_stamp) { - ++it_twist; - twist_stamp = rclcpp::Time(it_twist->header.stamp).seconds(); - } - if (std::abs(global_point_stamp - twist_stamp) > 0.1) { - is_twist_time_stamp_too_late = true; - is_twist_valid = false; - } + global_point_stamp = + pointcloud.header.stamp.sec + 1e-9 * (pointcloud.header.stamp.nanosec + *it_time_stamp); - // Get closest IMU information - if (use_imu && !angular_velocity_queue_.empty()) { - while (it_imu != std::end(angular_velocity_queue_) - 1 && global_point_stamp > imu_stamp) { - ++it_imu; - imu_stamp = rclcpp::Time(it_imu->header.stamp).seconds(); + // Get closest twist information + while (it_twist != std::end(twist_queue_) - 1 && global_point_stamp > twist_stamp) { + ++it_twist; + twist_stamp = rclcpp::Time(it_twist->header.stamp).seconds(); + } + if (std::abs(global_point_stamp - twist_stamp) > 0.1) { + is_twist_time_stamp_too_late = true; + is_twist_valid = false; } - if (std::abs(global_point_stamp - imu_stamp) > 0.1) { - is_imu_time_stamp_too_late = true; + // Get closest IMU information + if (use_imu && !angular_velocity_queue_.empty()) { + while (it_imu != std::end(angular_velocity_queue_) - 1 && global_point_stamp > imu_stamp) { + ++it_imu; + imu_stamp = rclcpp::Time(it_imu->header.stamp).seconds(); + } + + if (std::abs(global_point_stamp - imu_stamp) > 0.1) { + is_imu_time_stamp_too_late = true; + is_imu_valid = false; + } + } else { is_imu_valid = false; } - } else { - is_imu_valid = false; + + float time_offset = static_cast(global_point_stamp - prev_time_stamp_sec); + + // Undistort a single point based on the strategy + undistortPoint(it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); + + prev_time_stamp_sec = global_point_stamp; } - float time_offset = static_cast(global_point_stamp - prev_time_stamp_sec); + warnIfTimestampIsTooLate(is_twist_time_stamp_too_late, is_imu_time_stamp_too_late); + } - // Undistort a single point based on the strategy - undistortPoint(it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); + template + void DistortionCorrector::warnIfTimestampIsTooLate( + bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late) + { + if (is_twist_time_stamp_too_late) { + RCLCPP_WARN_STREAM_THROTTLE( + node_->get_logger(), *node_->get_clock(), 10000 /* ms */, + "Twist time_stamp is too late. Could not interpolate."); + } - prev_time_stamp_sec = global_point_stamp; + if (is_imu_time_stamp_too_late) { + RCLCPP_WARN_STREAM_THROTTLE( + node_->get_logger(), *node_->get_clock(), 10000 /* ms */, + "IMU time_stamp is too late. Could not interpolate."); + } } - warnIfTimestampIsTooLate(is_twist_time_stamp_too_late, is_imu_time_stamp_too_late); -} + ///////////////////////// Functions for different undistortion strategies + //////////////////////////// -template -void DistortionCorrector::warnIfTimestampIsTooLate( - bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late) -{ - if (is_twist_time_stamp_too_late) { - RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "Twist time_stamp is too late. Could not interpolate."); + void DistortionCorrector2D::initialize() + { + x_ = 0.0f; + y_ = 0.0f; + theta_ = 0.0f; } - if (is_imu_time_stamp_too_late) { - RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "IMU time_stamp is too late. Could not interpolate."); + void DistortionCorrector3D::initialize() + { + prev_transformation_matrix_ = Eigen::Matrix4f::Identity(); } -} -///////////////////////// Functions for different undistortion strategies ///////////////////////// + void DistortionCorrector2D::setPointCloudTransform( + const std::string & base_frame, const std::string & lidar_frame) + { + if (pointcloud_transform_exists_) { + return; + } -void DistortionCorrector2D::initialize() -{ - x_ = 0.0f; - y_ = 0.0f; - theta_ = 0.0f; -} + if (base_frame == lidar_frame) { + tf2_lidar_to_base_link_.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); + tf2_lidar_to_base_link_.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); + tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_; + pointcloud_transform_exists_ = true; + } else { + try { + const auto transform_msg = + tf_buffer_.lookupTransform(base_frame, lidar_frame, tf2::TimePointZero); + tf2::convert(transform_msg.transform, tf2_lidar_to_base_link_); + tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_.inverse(); + pointcloud_transform_exists_ = true; + pointcloud_transform_needed_ = true; + } catch (const tf2::TransformException & ex) { + RCLCPP_WARN(node_->get_logger(), "%s", ex.what()); + RCLCPP_ERROR( + node_->get_logger(), "Please publish TF %s to %s", base_frame.c_str(), + lidar_frame.c_str()); + + tf2_lidar_to_base_link_.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); + tf2_lidar_to_base_link_.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); + tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_; + } + } + } -void DistortionCorrector3D::initialize() -{ - prev_transformation_matrix_ = Eigen::Matrix4f::Identity(); -} + void DistortionCorrector3D::setPointCloudTransform( + const std::string & base_frame, const std::string & lidar_frame) + { + if (pointcloud_transform_exists_) { + return; + } -void DistortionCorrector2D::setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) -{ - if (pointcloud_transform_exists_) { - return; - } + if (base_frame == lidar_frame) { + eigen_lidar_to_base_link_ = Eigen::Matrix4f::Identity(); + eigen_base_link_to_lidar_ = Eigen::Matrix4f::Identity(); + pointcloud_transform_exists_ = true; + } - if (base_frame == lidar_frame) { - tf2_lidar_to_base_link_.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); - tf2_lidar_to_base_link_.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); - tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_; - pointcloud_transform_exists_ = true; - } else { try { const auto transform_msg = tf_buffer_.lookupTransform(base_frame, lidar_frame, tf2::TimePointZero); - tf2::convert(transform_msg.transform, tf2_lidar_to_base_link_); - tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_.inverse(); + eigen_lidar_to_base_link_ = + tf2::transformToEigen(transform_msg.transform).matrix().cast(); + eigen_base_link_to_lidar_ = eigen_lidar_to_base_link_.inverse(); pointcloud_transform_exists_ = true; pointcloud_transform_needed_ = true; } catch (const tf2::TransformException & ex) { RCLCPP_WARN(node_->get_logger(), "%s", ex.what()); RCLCPP_ERROR( node_->get_logger(), "Please publish TF %s to %s", base_frame.c_str(), lidar_frame.c_str()); - - tf2_lidar_to_base_link_.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); - tf2_lidar_to_base_link_.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0)); - tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_; + eigen_lidar_to_base_link_ = Eigen::Matrix4f::Identity(); + eigen_base_link_to_lidar_ = Eigen::Matrix4f::Identity(); } } -} -void DistortionCorrector3D::setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) -{ - if (pointcloud_transform_exists_) { - return; - } - - if (base_frame == lidar_frame) { - eigen_lidar_to_base_link_ = Eigen::Matrix4f::Identity(); - eigen_base_link_to_lidar_ = Eigen::Matrix4f::Identity(); - pointcloud_transform_exists_ = true; - } + inline void DistortionCorrector2D::undistortPointImplementation( + sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, + sensor_msgs::PointCloud2Iterator & it_z, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu, const float & time_offset, + const bool & is_twist_valid, const bool & is_imu_valid) + { + // Initialize linear velocity and angular velocity + float v{0.0f}, w{0.0f}; + if (is_twist_valid) { + v = static_cast(it_twist->twist.linear.x); + w = static_cast(it_twist->twist.angular.z); + } + if (is_imu_valid) { + w = static_cast(it_imu->vector.z); + } - try { - const auto transform_msg = - tf_buffer_.lookupTransform(base_frame, lidar_frame, tf2::TimePointZero); - eigen_lidar_to_base_link_ = - tf2::transformToEigen(transform_msg.transform).matrix().cast(); - eigen_base_link_to_lidar_ = eigen_lidar_to_base_link_.inverse(); - pointcloud_transform_exists_ = true; - pointcloud_transform_needed_ = true; - } catch (const tf2::TransformException & ex) { - RCLCPP_WARN(node_->get_logger(), "%s", ex.what()); - RCLCPP_ERROR( - node_->get_logger(), "Please publish TF %s to %s", base_frame.c_str(), lidar_frame.c_str()); - eigen_lidar_to_base_link_ = Eigen::Matrix4f::Identity(); - eigen_base_link_to_lidar_ = Eigen::Matrix4f::Identity(); - } -} - -inline void DistortionCorrector2D::undistortPointImplementation( - sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, - sensor_msgs::PointCloud2Iterator & it_z, - std::deque::iterator & it_twist, - std::deque::iterator & it_imu, const float & time_offset, - const bool & is_twist_valid, const bool & is_imu_valid) -{ - // Initialize linear velocity and angular velocity - float v{0.0f}, w{0.0f}; - if (is_twist_valid) { - v = static_cast(it_twist->twist.linear.x); - w = static_cast(it_twist->twist.angular.z); - } - if (is_imu_valid) { - w = static_cast(it_imu->vector.z); - } + // Undistort point + point_tf_.setValue(*it_x, *it_y, *it_z); - // Undistort point - point_tf_.setValue(*it_x, *it_y, *it_z); + if (pointcloud_transform_needed_) { + point_tf_ = tf2_lidar_to_base_link_ * point_tf_; + } + theta_ += w * time_offset; + baselink_quat_.setValue( + 0, 0, autoware::universe_utils::sin(theta_ * 0.5f), + autoware::universe_utils::cos(theta_ * 0.5f)); // baselink_quat.setRPY(0.0, 0.0, theta); + // (Note that the value is slightly different) + const float dis = v * time_offset; + x_ += dis * autoware::universe_utils::cos(theta_); + y_ += dis * autoware::universe_utils::sin(theta_); + + baselink_tf_odom_.setOrigin(tf2::Vector3(x_, y_, 0.0)); + baselink_tf_odom_.setRotation(baselink_quat_); + + undistorted_point_tf_ = baselink_tf_odom_ * point_tf_; + + if (pointcloud_transform_needed_) { + undistorted_point_tf_ = tf2_base_link_to_lidar_ * undistorted_point_tf_; + } - if (pointcloud_transform_needed_) { - point_tf_ = tf2_lidar_to_base_link_ * point_tf_; - } - theta_ += w * time_offset; - baselink_quat_.setValue( - 0, 0, autoware::universe_utils::sin(theta_ * 0.5f), - autoware::universe_utils::cos( - theta_ * - 0.5f)); // baselink_quat.setRPY(0.0, 0.0, theta); (Note that the value is slightly different) - const float dis = v * time_offset; - x_ += dis * autoware::universe_utils::cos(theta_); - y_ += dis * autoware::universe_utils::sin(theta_); - - baselink_tf_odom_.setOrigin(tf2::Vector3(x_, y_, 0.0)); - baselink_tf_odom_.setRotation(baselink_quat_); - - undistorted_point_tf_ = baselink_tf_odom_ * point_tf_; - - if (pointcloud_transform_needed_) { - undistorted_point_tf_ = tf2_base_link_to_lidar_ * undistorted_point_tf_; + *it_x = static_cast(undistorted_point_tf_.getX()); + *it_y = static_cast(undistorted_point_tf_.getY()); + *it_z = static_cast(undistorted_point_tf_.getZ()); } - *it_x = static_cast(undistorted_point_tf_.getX()); - *it_y = static_cast(undistorted_point_tf_.getY()); - *it_z = static_cast(undistorted_point_tf_.getZ()); -} - -inline void DistortionCorrector3D::undistortPointImplementation( - sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, - sensor_msgs::PointCloud2Iterator & it_z, - std::deque::iterator & it_twist, - std::deque::iterator & it_imu, const float & time_offset, - const bool & is_twist_valid, const bool & is_imu_valid) -{ - // Initialize linear velocity and angular velocity - float v_x_{0.0f}, v_y_{0.0f}, v_z_{0.0f}, w_x_{0.0f}, w_y_{0.0f}, w_z_{0.0f}; - if (is_twist_valid) { - v_x_ = static_cast(it_twist->twist.linear.x); - v_y_ = static_cast(it_twist->twist.linear.y); - v_z_ = static_cast(it_twist->twist.linear.z); - w_x_ = static_cast(it_twist->twist.angular.x); - w_y_ = static_cast(it_twist->twist.angular.y); - w_z_ = static_cast(it_twist->twist.angular.z); - } - if (is_imu_valid) { - w_x_ = static_cast(it_imu->vector.x); - w_y_ = static_cast(it_imu->vector.y); - w_z_ = static_cast(it_imu->vector.z); - } + inline void DistortionCorrector3D::undistortPointImplementation( + sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, + sensor_msgs::PointCloud2Iterator & it_z, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu, const float & time_offset, + const bool & is_twist_valid, const bool & is_imu_valid) + { + // Initialize linear velocity and angular velocity + float v_x_{0.0f}, v_y_{0.0f}, v_z_{0.0f}, w_x_{0.0f}, w_y_{0.0f}, w_z_{0.0f}; + if (is_twist_valid) { + v_x_ = static_cast(it_twist->twist.linear.x); + v_y_ = static_cast(it_twist->twist.linear.y); + v_z_ = static_cast(it_twist->twist.linear.z); + w_x_ = static_cast(it_twist->twist.angular.x); + w_y_ = static_cast(it_twist->twist.angular.y); + w_z_ = static_cast(it_twist->twist.angular.z); + } + if (is_imu_valid) { + w_x_ = static_cast(it_imu->vector.x); + w_y_ = static_cast(it_imu->vector.y); + w_z_ = static_cast(it_imu->vector.z); + } - // Undistort point - point_eigen_ << *it_x, *it_y, *it_z, 1.0; - if (pointcloud_transform_needed_) { - point_eigen_ = eigen_lidar_to_base_link_ * point_eigen_; - } + // Undistort point + point_eigen_ << *it_x, *it_y, *it_z, 1.0; + if (pointcloud_transform_needed_) { + point_eigen_ = eigen_lidar_to_base_link_ * point_eigen_; + } - Sophus::SE3f::Tangent twist(v_x_, v_y_, v_z_, w_x_, w_y_, w_z_); - twist = twist * time_offset; - transformation_matrix_ = Sophus::SE3f::exp(twist).matrix(); - transformation_matrix_ = transformation_matrix_ * prev_transformation_matrix_; - undistorted_point_eigen_ = transformation_matrix_ * point_eigen_; + Sophus::SE3f::Tangent twist(v_x_, v_y_, v_z_, w_x_, w_y_, w_z_); + twist = twist * time_offset; + transformation_matrix_ = Sophus::SE3f::exp(twist).matrix(); + transformation_matrix_ = transformation_matrix_ * prev_transformation_matrix_; + undistorted_point_eigen_ = transformation_matrix_ * point_eigen_; - if (pointcloud_transform_needed_) { - undistorted_point_eigen_ = eigen_base_link_to_lidar_ * undistorted_point_eigen_; - } - *it_x = undistorted_point_eigen_[0]; - *it_y = undistorted_point_eigen_[1]; - *it_z = undistorted_point_eigen_[2]; + if (pointcloud_transform_needed_) { + undistorted_point_eigen_ = eigen_base_link_to_lidar_ * undistorted_point_eigen_; + } + *it_x = undistorted_point_eigen_[0]; + *it_y = undistorted_point_eigen_[1]; + *it_z = undistorted_point_eigen_[2]; - prev_transformation_matrix_ = transformation_matrix_; -} + prev_transformation_matrix_ = transformation_matrix_; + } <<<<<<< HEAD } // namespace pointcloud_preprocessor diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp index b90095aec9724..553ce4a9a27da 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp @@ -19,9 +19,8 @@ namespace pointcloud_preprocessor ======= -#include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp" - #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" +#include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp" namespace autoware::pointcloud_preprocessor >>>>>>> original/main diff --git a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp index 505564b3604a7..f8dfe160ba7ef 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp @@ -52,7 +52,6 @@ #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/utility/memory.hpp" - #include "pointcloud_preprocessor/utility/memory.hpp" #include diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp index 47acdd60f3b19..1e83aceba7dfe 100644 --- a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -31,7 +31,7 @@ ======= #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" #include "autoware/universe_utils/math/trigonometry.hpp" ->>>>>>> original/main + >>>>>>> original/main #include @@ -46,7 +46,7 @@ #include -class DistortionCorrectorTest : public ::testing::Test + class DistortionCorrectorTest : public ::testing::Test { protected: void SetUp() override diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_utilities.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_utilities.cpp index 797da49cf0476..4ddc97351fe1f 100644 --- a/sensing/autoware_pointcloud_preprocessor/test/test_utilities.cpp +++ b/sensing/autoware_pointcloud_preprocessor/test/test_utilities.cpp @@ -16,7 +16,7 @@ #include "pointcloud_preprocessor/utility/geometry.hpp" ======= #include "autoware/pointcloud_preprocessor/utility/geometry.hpp" ->>>>>>> original/main + >>>>>>> original/main #include @@ -29,7 +29,7 @@ #include -constexpr double EPSILON = 1e-6; + constexpr double EPSILON = 1e-6; class RemovePolygonCgalFromCloudTest : public ::testing::Test {