refactor(object_merger)!: fix namespace and directory structure (auto…

…warefoundation#7642) * refactor: update include paths for object association modules Signed-off-by: Taekjin LEE <[email protected]> * refactor: update include paths for object association modules Signed-off-by: Taekjin LEE <[email protected]> * refactor: rename node.hpp to object_association_merger_node.hpp Signed-off-by: Taekjin LEE <[email protected]> * refactor: update include paths for object association modules Signed-off-by: Taekjin LEE <[email protected]> * refactor: update include paths for object association modules Signed-off-by: Taekjin LEE <[email protected]> * refactor: remove unused dependency in package.xml Signed-off-by: Taekjin LEE <[email protected]> * refactor: update include paths for object association modules Signed-off-by: Taekjin LEE <[email protected]> * refactor: add ssp.hpp to object association solver includes Signed-off-by: Taekjin LEE <[email protected]> * refactor: update include paths for object association node Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
tby-udel · Jul 14, 2024 · 38f4d3b · 38f4d3b
1 parent 92a1b1c
commit 38f4d3b
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Showing 13 changed files with 82 additions and 145 deletions.
diff --git a/perception/object_merger/CMakeLists.txt b/perception/object_merger/CMakeLists.txt
@@ -18,18 +18,18 @@ include_directories(
     ${EIGEN3_INCLUDE_DIR}
 )
 
-ament_auto_add_library(object_association_merger SHARED
-  src/object_association_merger/data_association/data_association.cpp
-  src/object_association_merger/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
-  src/object_association_merger/node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/association/data_association.cpp
+  src/association/solver/mu_successive_shortest_path_wrapper.cpp
+  src/object_association_merger_node.cpp
 )
 
-target_link_libraries(object_association_merger
+target_link_libraries(${PROJECT_NAME}
   Eigen3::Eigen
 )
 
-rclcpp_components_register_node(object_association_merger
-  PLUGIN "object_association::ObjectAssociationMergerNode"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::object_merger::ObjectAssociationMergerNode"
   EXECUTABLE object_association_merger_node
 )
 

diff --git a/...ger/data_association/data_association.hpp → ...t_merger/association/data_association.hpp b/...ger/data_association/data_association.hpp → ...t_merger/association/data_association.hpp
@@ -16,21 +16,25 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
-
-#include <list>
-#include <memory>
-#include <unordered_map>
-#include <vector>
+#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
 
 #define EIGEN_MPL2_ONLY
-#include "object_merger/data_association/solver/gnn_solver.hpp"
+
+#include "autoware_object_merger/association/solver/gnn_solver.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
+
+#include <list>
+#include <memory>
+#include <unordered_map>
+#include <vector>
+
+namespace autoware::object_merger
+{
 
 class DataAssociation
 {
@@ -40,7 +44,7 @@ class DataAssociation
   Eigen::MatrixXd max_rad_matrix_;
   Eigen::MatrixXd min_iou_matrix_;
   const double score_threshold_;
-  std::unique_ptr<gnn_solver::GnnSolverInterface> gnn_solver_ptr_;
+  std::unique_ptr<autoware::object_merger::gnn_solver::GnnSolverInterface> gnn_solver_ptr_;
 
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -56,4 +60,6 @@ class DataAssociation
   virtual ~DataAssociation() {}
 };
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
+}  // namespace autoware::object_merger
+
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
diff --git a/...er/data_association/solver/gnn_solver.hpp → ..._merger/association/solver/gnn_solver.hpp b/...er/data_association/solver/gnn_solver.hpp → ..._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 OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
 
-#include "object_merger/data_association/solver/gnn_solver_interface.hpp"
-#include "object_merger/data_association/solver/mu_successive_shortest_path.hpp"
-#include "object_merger/data_association/solver/successive_shortest_path.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  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
diff --git a/...sociation/solver/gnn_solver_interface.hpp → ...sociation/solver/gnn_solver_interface.hpp b/...sociation/solver/gnn_solver_interface.hpp → ...sociation/solver/gnn_solver_interface.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define OBJECT_MERGER__DATA_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>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 class GnnSolverInterface
 {
@@ -30,6 +30,6 @@ class GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) = 0;
 };
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
diff --git a/...on/solver/mu_successive_shortest_path.hpp → ...ject_merger/association/solver/mu_ssp.hpp b/...on/solver/mu_successive_shortest_path.hpp → ...ject_merger/association/solver/mu_ssp.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
 
-#include "object_merger/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 class MuSSP : public GnnSolverInterface
 {
@@ -32,6 +32,6 @@ class MuSSP : public GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) override;
 };
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
diff --git a/...ation/solver/successive_shortest_path.hpp → ..._object_merger/association/solver/ssp.hpp b/...ation/solver/successive_shortest_path.hpp → ..._object_merger/association/solver/ssp.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
 
-#include "object_merger/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 class SSP : public GnnSolverInterface
 {
@@ -32,6 +32,6 @@ class SSP : public GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) override;
 };
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
diff --git a/perception/object_merger/include/object_merger/utils/utils.hpp b/perception/object_merger/include/object_merger/utils/utils.hpp
diff --git a/perception/object_merger/package.xml b/perception/object_merger/package.xml
@@ -22,7 +22,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/...ger/data_association/data_association.cpp → ...rger/src/association/data_association.cpp b/...ger/data_association/data_association.cpp → ...rger/src/association/data_association.cpp
@@ -12,11 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/data_association/data_association.hpp"
+#include "autoware_object_merger/association/data_association.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "object_merger/data_association/solver/gnn_solver.hpp"
-#include "object_merger/utils/utils.hpp"
+#include "autoware_object_merger/association/solver/gnn_solver.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <algorithm>
@@ -47,6 +46,9 @@ double getFormedYawAngle(
 }
 }  // namespace
 
+namespace autoware::object_merger
+{
+
 DataAssociation::DataAssociation(
   std::vector<int> can_assign_vector, std::vector<double> max_dist_vector,
   std::vector<double> max_rad_vector, std::vector<double> min_iou_vector)
@@ -77,7 +79,7 @@ DataAssociation::DataAssociation(
     min_iou_matrix_ = min_iou_matrix_tmp.transpose();
   }
 
-  gnn_solver_ptr_ = std::make_unique<gnn_solver::MuSSP>();
+  gnn_solver_ptr_ = std::make_unique<autoware::object_merger::gnn_solver::MuSSP>();
 }
 
 void DataAssociation::assign(
@@ -172,3 +174,5 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
 
   return score_matrix;
 }
+
+}  // namespace autoware::object_merger
diff --git a/...h/mu_successive_shortest_path_wrapper.cpp → ...r/mu_successive_shortest_path_wrapper.cpp b/...h/mu_successive_shortest_path_wrapper.cpp → ...r/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 "object_merger/data_association/solver/mu_successive_shortest_path.hpp"
+#include "autoware_object_merger/association/solver/mu_ssp.hpp"
 
 #include <mussp/mussp.h>
 
@@ -24,7 +24,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 void MuSSP::maximizeLinearAssignment(
   const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
@@ -38,4 +38,4 @@ void MuSSP::maximizeLinearAssignment(
   // Solve DA by muSSP
   solve_muSSP(cost, direct_assignment, reverse_assignment);
 }
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver
diff --git a/...hortest_path/successive_shortest_path.cpp → ...ation/solver/successive_shortest_path.cpp b/...hortest_path/successive_shortest_path.cpp → ...ation/solver/successive_shortest_path.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/data_association/solver/successive_shortest_path.hpp"
+#include "autoware_object_merger/association/solver/ssp.hpp"
 
 #include <algorithm>
 #include <cassert>
@@ -22,7 +22,7 @@
 #include <utility>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 struct ResidualEdge
 {
@@ -367,4 +367,4 @@ void SSP::maximizeLinearAssignment(
   }
 #endif
 }
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver