Merge branch 'main' into refactor/pointcloud_preprocessor-namespace-p…

…refix

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],

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
   )
 

perception/traffic_light_fine_detector/src/nodelet.cpp → 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 <filesystem>
@@ -22,6 +22,7 @@ namespace fs = ::std::filesystem;
 namespace fs = ::std::experimental::filesystem;
 #endif
 
+#include <algorithm>
 #include <memory>
 #include <string>
 #include <utility>
@@ -46,15 +47,14 @@ float calWeightedIou(
 
 }  // namespace
 
-namespace traffic_light
+namespace autoware::traffic_light
 {
 inline std::vector<float> toFloatVector(const std::vector<double> double_vector)
 {
   return std::vector<float>(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<std::mutex> lock(connect_mutex_);
   output_roi_pub_ = this->create_publisher<TrafficLightRoiArray>("~/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<std::mutex> 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<int, TrafficLightRoi> & id2expectRoi,
   std::map<int, tensorrt_yolox::ObjectArray> & id2detections,
   std::map<int, tensorrt_yolox::Object> & id2bestDetection)
@@ -236,7 +235,7 @@ float TrafficLightFineDetectorNodelet::evalMatchScore(
   return score_sum;
 }
 
-void TrafficLightFineDetectorNodelet::detectionMatch(
+void TrafficLightFineDetectorNode::detectionMatch(
   std::map<int, TrafficLightRoi> & id2expectRoi,
   std::map<int, tensorrt_yolox::ObjectArray> & 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<int>(size.width);
   const int height = static_cast<int>(size.height);
@@ -334,7 +332,7 @@ bool TrafficLightFineDetectorNodelet::fitInFrame(
   return true;
 }
 
-bool TrafficLightFineDetectorNodelet::readLabelFile(
+bool TrafficLightFineDetectorNode::readLabelFile(
   const std::string & filepath, std::vector<int> & 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_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::TrafficLightFineDetectorNodelet)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::TrafficLightFineDetectorNode)

perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp → 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 <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>
@@ -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<tensorrt_yolox::TrtYoloX> 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_