refactor(lidar_transfusion)!: fix namespace and directory structure (#…

…8022) * add prefix Signed-off-by: MasatoSaeki <[email protected]> * add prefix in code owner Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix * fix launcher Signed-off-by: MasatoSaeki <[email protected]> --------- Signed-off-by: MasatoSaeki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Amadeusz Szymko <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
autowarefoundation · Jul 22, 2024 · 56166bb · 56166bb
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -105,7 +105,9 @@ map/map_projection_loader/** [email protected] [email protected] mas
 map/map_tf_generator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 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_lidar_transfusion/** [email protected] [email protected] [email protected]
 perception/autoware_map_based_prediction/** [email protected] [email protected] [email protected] [email protected] [email protected]
+perception/autoware_multi_object_tracker/** [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]
@@ -128,8 +130,6 @@ perception/lidar_apollo_instance_segmentation/** [email protected] yukihiro.sait
 perception/lidar_apollo_segmentation_tvm/** [email protected] [email protected]
 perception/lidar_apollo_segmentation_tvm_nodes/** [email protected] [email protected]
 perception/lidar_centerpoint/** [email protected] [email protected]
-perception/lidar_transfusion/** [email protected] [email protected] [email protected]
-perception/autoware_multi_object_tracker/** [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]

diff --git a/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -17,10 +17,10 @@
   <!-- TransFusion -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='transfusion'&quot;)">
     <push-ros-namespace namespace="transfusion"/>
-    <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_transfusion)/config"/>
+    <arg name="lidar_model_param_path" default="$(find-pkg-share autoware_lidar_transfusion)/config"/>
 
     <group>
-      <include file="$(find-pkg-share lidar_transfusion)/launch/lidar_transfusion.launch.xml">
+      <include file="$(find-pkg-share autoware_lidar_transfusion)/launch/lidar_transfusion.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="output/objects" value="$(var output/objects)"/>
         <arg name="model_name" value="$(var transfusion_model_name)"/>

diff --git a/perception/lidar_transfusion/CMakeLists.txt → ...autoware_lidar_transfusion/CMakeLists.txt b/perception/lidar_transfusion/CMakeLists.txt → ...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
@@ -92,50 +92,50 @@ 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
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
   )
 
   # 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 → ...tion/autoware_lidar_transfusion/README.md b/perception/lidar_transfusion/README.md → ...tion/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 <https://github.com/open-mmlab/mmdetection3d>.
 
 ### 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/...onfig/detection_class_remapper.param.yaml → ...onfig/detection_class_remapper.param.yaml b/...onfig/detection_class_remapper.param.yaml → ...onfig/detection_class_remapper.param.yaml
diff --git a/...transfusion/config/transfusion.param.yaml → ...transfusion/config/transfusion.param.yaml b/...transfusion/config/transfusion.param.yaml → ...transfusion/config/transfusion.param.yaml
diff --git a/.../include/lidar_transfusion/cuda_utils.hpp → ...autoware/lidar_transfusion/cuda_utils.hpp b/.../include/lidar_transfusion/cuda_utils.hpp → ...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 <cuda_runtime_api.h>
 
@@ -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/..._transfusion/detection_class_remapper.hpp → ..._transfusion/detection_class_remapper.hpp b/..._transfusion/detection_class_remapper.hpp → ..._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 <Eigen/Core>
 
@@ -24,7 +24,7 @@
 
 #include <vector>
 
-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/...ar_transfusion/lidar_transfusion_node.hpp → ...ar_transfusion/lidar_transfusion_node.hpp b/...ar_transfusion/lidar_transfusion_node.hpp → ...ar_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 <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/ros/published_time_publisher.hpp>
@@ -36,7 +36,7 @@
 #include <string>
 #include <vector>
 
-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<autoware::universe_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
   std::unique_ptr<autoware::universe_utils::PublishedTimePublisher> 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/...lidar_transfusion/network/network_trt.hpp → ...lidar_transfusion/network/network_trt.hpp b/...lidar_transfusion/network/network_trt.hpp → ...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 <tensorrt_common/tensorrt_common.hpp>
 
@@ -29,7 +29,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace lidar_transfusion
+namespace autoware::lidar_transfusion
 {
 
 struct ProfileDimension
@@ -82,6 +82,6 @@ class NetworkTRT
   std::array<ProfileDimension, 3> 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/...sfusion/postprocess/circle_nms_kernel.hpp → ...sfusion/postprocess/circle_nms_kernel.hpp b/...sfusion/postprocess/circle_nms_kernel.hpp → ...sfusion/postprocess/circle_nms_kernel.hpp
@@ -12,21 +12,21 @@
 // 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 <thrust/device_vector.h>
 
-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.
 std::size_t circleNMS(
   thrust::device_vector<Box3D> & boxes3d, const float distance_threshold,
   thrust::device_vector<bool> & 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/...n/postprocess/non_maximum_suppression.hpp → ...n/postprocess/non_maximum_suppression.hpp b/...n/postprocess/non_maximum_suppression.hpp → ...n/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 <Eigen/Eigen>
 
@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace lidar_transfusion
+namespace autoware::lidar_transfusion
 {
 using autoware_perception_msgs::msg::DetectedObject;
 
@@ -75,6 +75,6 @@ class NonMaximumSuppression
   std::vector<bool> 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/...fusion/postprocess/postprocess_kernel.hpp → ...fusion/postprocess/postprocess_kernel.hpp b/...fusion/postprocess/postprocess_kernel.hpp → ...fusion/postprocess/postprocess_kernel.hpp
@@ -12,19 +12,19 @@
 // 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 <cuda.h>
 #include <cuda_runtime_api.h>
 #include <thrust/device_vector.h>
 
 #include <vector>
 
-namespace lidar_transfusion
+namespace autoware::lidar_transfusion
 {
 
 class PostprocessCuda
@@ -45,6 +45,6 @@ class PostprocessCuda
   thrust::device_vector<float> 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_