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refactor(autoware_object_merger): move headers to src and rename package #7804

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Jul 19, 2024
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refactor(autoware_object_merger): move headers to src and rename package #7804

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948b30f
refactor(autoware_object_merger): move headers to src and rename package
esteve Jul 3, 2024
cb97667
refactor(autoware_object_merger): update package paths in launch files
technolojin Jul 19, 2024
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2 changes: 1 addition & 1 deletion .github/CODEOWNERS
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@
control/autoware_pid_longitudinal_controller/** [email protected] [email protected] [email protected]
control/autoware_pure_pursuit/** [email protected] [email protected]
control/autoware_shift_decider/** [email protected] [email protected]
control/autoware_smart_mpc_trajectory_follower/** [email protected] [email protected] [email protected] [email protected]

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control/autoware_trajectory_follower_base/** [email protected] [email protected]
control/autoware_trajectory_follower_node/** [email protected] [email protected]
control/autoware_vehicle_cmd_gate/** [email protected] [email protected]
Expand Down Expand Up @@ -106,6 +106,7 @@
map/util/lanelet2_map_preprocessor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
perception/autoware_crosswalk_traffic_light_estimator/** [email protected] [email protected] [email protected]
perception/autoware_map_based_prediction/** [email protected] [email protected] [email protected] [email protected] [email protected]
perception/autoware_object_merger/** [email protected] [email protected] [email protected]
perception/autoware_object_range_splitter/** [email protected] [email protected]
perception/autoware_object_velocity_splitter/** [email protected] [email protected] [email protected]
perception/autoware_radar_crossing_objects_noise_filter/** [email protected] [email protected] [email protected] [email protected]
Expand All @@ -128,7 +129,6 @@
perception/lidar_centerpoint/** [email protected] [email protected]
perception/lidar_transfusion/** [email protected] [email protected] [email protected]
perception/multi_object_tracker/** [email protected] [email protected] [email protected]
perception/object_merger/** [email protected] [email protected] [email protected]
perception/occupancy_grid_map_outlier_filter/** [email protected] [email protected] [email protected]
perception/probabilistic_occupancy_grid_map/** [email protected] [email protected] [email protected]
perception/radar_tracks_msgs_converter/** [email protected] [email protected] [email protected] [email protected]
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8 changes: 4 additions & 4 deletions ...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
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@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<launch>
<!-- Parameters -->
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>

<!-- Pipeline junctions -->
<arg name="lidar_detection_model"/>
Expand Down Expand Up @@ -119,7 +119,7 @@

<!-- 1st merger: camera_lidar_fusion + lidar cluster-->
<group>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger1/input/objects0)"/>
<arg name="input/object1" value="$(var merger1/input/objects1)"/>
<arg name="output/object" value="$(var merger1/output/objects)"/>
Expand All @@ -131,7 +131,7 @@

<!-- 2nd merger: + detection_by_tracker -->
<group if="$(var use_detection_by_tracker)">
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger2/input/objects0)"/>
<arg name="input/object1" value="$(var merger2/input/objects1)"/>
<arg name="output/object" value="$(var merger2/output/objects)"/>
Expand Down
10 changes: 5 additions & 5 deletions ...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
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@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<launch>
<!-- Parameters -->
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
<arg name="far_object_merger_sync_queue_size" default="20"/>

<!-- Pipeline junctions -->
Expand Down Expand Up @@ -142,7 +142,7 @@

<!-- 1st merger -->
<group>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger1/input/objects0)"/>
<arg name="input/object1" value="$(var merger1/input/objects1)"/>
<arg name="output/object" value="$(var merger1/output/objects)"/>
Expand All @@ -154,7 +154,7 @@

<!-- 2nd merger: + detection_by_tracker -->
<group if="$(var use_detection_by_tracker)">
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger2/input/objects0)"/>
<arg name="input/object1" value="$(var merger2/input/objects1)"/>
<arg name="output/object" value="$(var merger2/output/objects)"/>
Expand All @@ -177,7 +177,7 @@
<!-- Merge far_objects and near_objects in detection stage.
Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
<group unless="$(var use_radar_tracking_fusion)">
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger3/input/objects0)"/>
<arg name="input/object1" value="$(var merger3/input/objects1)"/>
<arg name="output/object" value="$(var merger3/output/objects)"/>
Expand Down
8 changes: 4 additions & 4 deletions ...ier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
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<?xml version="1.0"?>
<launch>
<!-- Parameters -->
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>

<!-- Pipeline junctions -->
<arg name="lidar_detection_model"/>
Expand Down Expand Up @@ -57,7 +57,7 @@

<!-- 1st merger: ML detection + pointcloud cluster -->
<group>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger1/input/objects0)"/>
<arg name="input/object1" value="$(var merger1/input/objects1)"/>
<arg name="output/object" value="$(var merger1/output/objects)"/>
Expand All @@ -69,7 +69,7 @@

<!-- 2nd merger: + detection_by_tracker -->
<group if="$(var use_detection_by_tracker)">
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger2/input/objects0)"/>
<arg name="input/object1" value="$(var merger2/input/objects1)"/>
<arg name="output/object" value="$(var merger2/output/objects)"/>
Expand Down
2 changes: 1 addition & 1 deletion launch/tier4_perception_launch/package.xml
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Expand Up @@ -15,6 +15,7 @@

<exec_depend>autoware_crosswalk_traffic_light_estimator</exec_depend>
<exec_depend>autoware_map_based_prediction</exec_depend>
<exec_depend>autoware_object_merger</exec_depend>
<exec_depend>autoware_object_range_splitter</exec_depend>
<exec_depend>autoware_object_velocity_splitter</exec_depend>
<exec_depend>autoware_radar_crossing_objects_noise_filter</exec_depend>
Expand All @@ -33,7 +34,6 @@
<exec_depend>image_transport_decompressor</exec_depend>
<exec_depend>lidar_apollo_instance_segmentation</exec_depend>
<exec_depend>multi_object_tracker</exec_depend>
<exec_depend>object_merger</exec_depend>
<exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>pointcloud_to_laserscan</exec_depend>
Expand Down
2 changes: 1 addition & 1 deletion perception/object_merger/CMakeLists.txt → ...ion/autoware_object_merger/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.14)
project(object_merger)
project(autoware_object_merger)

find_package(autoware_cmake REQUIRED)
autoware_package()
Expand Down
0 perception/object_merger/README.md → perception/autoware_object_merger/README.md
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0 ...config/data_association_matrix.param.yaml → ...config/data_association_matrix.param.yaml
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0 ...nfig/object_association_merger.param.yaml → ...nfig/object_association_merger.param.yaml
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0 ...merger/config/overlapped_judge.param.yaml → ...merger/config/overlapped_judge.param.yaml
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8 changes: 4 additions & 4 deletions ...t_merger/association/data_association.hpp → ...t_merger/association/data_association.hpp
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Expand Up @@ -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 <Eigen/Core>
#include <Eigen/Geometry>
Expand Down Expand Up @@ -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_
12 changes: 6 additions & 6 deletions ..._merger/association/solver/gnn_solver.hpp → ..._merger/association/solver/gnn_solver.hpp
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Expand Up @@ -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_
6 changes: 3 additions & 3 deletions ...sociation/solver/gnn_solver_interface.hpp → ...sociation/solver/gnn_solver_interface.hpp
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Expand Up @@ -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 <unordered_map>
#include <vector>
Expand All @@ -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_
8 changes: 4 additions & 4 deletions ...ject_merger/association/solver/mu_ssp.hpp → ...ject_merger/association/solver/mu_ssp.hpp
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Expand Up @@ -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 <unordered_map>
#include <vector>
Expand All @@ -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_
8 changes: 4 additions & 4 deletions ..._object_merger/association/solver/ssp.hpp → .../object_merger/association/solver/ssp.hpp
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Expand Up @@ -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 <unordered_map>
#include <vector>
Expand All @@ -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_
8 changes: 4 additions & 4 deletions ...er/src/object_association_merger_node.hpp → ...merger/object_association_merger_node.hpp
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Expand Up @@ -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 <rclcpp/rclcpp.hpp>

Expand Down Expand Up @@ -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_
8 changes: 4 additions & 4 deletions ...unch/object_association_merger.launch.xml → ...unch/object_association_merger.launch.xml
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Expand Up @@ -4,11 +4,11 @@
<arg name="input/object1" default="object1"/>
<arg name="output/object" default="merged_object"/>
<arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
<arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
<arg name="object_association_merger_param_path" default="$(find-pkg-share object_merger)/config/object_association_merger.param.yaml"/>
<arg name="data_association_matrix_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
<arg name="object_association_merger_param_path" default="$(find-pkg-share autoware_object_merger)/config/object_association_merger.param.yaml"/>

<node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
<node pkg="autoware_object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
<remap from="input/object0" to="$(var input/object0)"/>
<remap from="input/object1" to="$(var input/object1)"/>
<remap from="output/object" to="$(var output/object)"/>
Expand Down
4 changes: 2 additions & 2 deletions perception/object_merger/package.xml → ...eption/autoware_object_merger/package.xml
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@@ -1,9 +1,9 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>object_merger</name>
<name>autoware_object_merger</name>
<version>0.1.0</version>
<description>The object_merger package</description>
<description>The autoware_object_merger package</description>
<maintainer email="[email protected]">Yukihiro Saito</maintainer>
<maintainer email="[email protected]">Yoshi Ri</maintainer>
<maintainer email="[email protected]">Taekjin Lee</maintainer>
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0 ...chema/data_association_matrix.schema.json → ...chema/data_association_matrix.schema.json
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0 ...ema/object_association_merger.schema.json → ...ema/object_association_merger.schema.json
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0 ...erger/schema/overlapped_judge.schema.json → ...erger/schema/overlapped_judge.schema.json
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4 changes: 2 additions & 2 deletions ...rger/src/association/data_association.cpp → ...rger/src/association/data_association.cpp
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Expand Up @@ -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 <algorithm>
Expand Down
2 changes: 1 addition & 1 deletion ...r/mu_successive_shortest_path_wrapper.cpp → ...r/mu_successive_shortest_path_wrapper.cpp
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Expand Up @@ -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 <mussp/mussp.h>

Expand Down
2 changes: 1 addition & 1 deletion ...ation/solver/successive_shortest_path.cpp → ...ation/solver/successive_shortest_path.cpp
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Expand Up @@ -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 <algorithm>
#include <cassert>
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2 changes: 1 addition & 1 deletion ...er/src/object_association_merger_node.cpp → ...er/src/object_association_merger_node.cpp
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Expand Up @@ -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"
Expand Down
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