refactor(detected_object_validation)!: fix namespace and directory st…

…ructure (autowarefoundation#7866)

* refactor: update include paths for detected object filters

Signed-off-by: Taekjin LEE <[email protected]>

* refactor: set proper namespace

Signed-off-by: Taekjin LEE <[email protected]>

* refactor: move utils to be shared

Signed-off-by: Taekjin LEE <[email protected]>

* refactor: remove unnecessary dependencies in detected_object_validation/package.xml

Signed-off-by: Taekjin LEE <[email protected]>

* chore: Override functions in pcl_validator.hpp

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

* refactor: pcl_validator to obstacle_pointcloud_validator, ogm_validator to occupancy_grid_map_validator

Signed-off-by: Taekjin LEE <[email protected]>

---------

Signed-off-by: Taekjin LEE <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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
 )
 

perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp → 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 <autoware_perception_msgs/msg/detected_objects.hpp>
 
 #include <cstdint>
+
+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_

perception/detected_object_validation/src/utils.cpp → 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 <autoware_perception_msgs/msg/object_classification.hpp>
 
+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

perception/detected_object_validation/package.xml

@@ -22,17 +22,14 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_test_utils</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>geometry_msgs</depend>
   <depend>message_filters</depend>
   <depend>nav_msgs</depend>
   <depend>object_recognition_utils</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

perception/detected_object_validation/src/object_lanelet_filter.cpp → perception/detected_object_validation/src/lanelet_filter/lanelet_filter.cpp

@@ -12,20 +12,22 @@
 // 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 <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 "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 <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/algorithms/disjoint.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>
 
 #include <lanelet2_core/geometry/Polygon.h>
 
-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_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(object_lanelet_filter::ObjectLaneletFilterNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::detected_object_validation::lanelet_filter::ObjectLaneletFilterNode)

perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp → 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 <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 <rclcpp/rclcpp.hpp>
 
-#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_map_msgs/msg/lanelet_map_bin.hpp"
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
 
 #include <lanelet2_core/Forward.h>
 #include <tf2_ros/buffer.h>
@@ -33,7 +33,9 @@
 #include <memory>
 #include <string>
 
-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<autoware::universe_utils::PublishedTimePublisher> 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_

perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp → 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 <rclcpp/rclcpp.hpp>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
 
-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_

perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp → 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 <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
@@ -25,11 +27,12 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-#define EIGEN_MPL2_ONLY
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-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_macro.hpp>
 RCLCPP_COMPONENTS_REGISTER_NODE(
-  obstacle_pointcloud_based_validator::ObstaclePointCloudBasedValidator)
+  autoware::detected_object_validation::obstacle_pointcloud::ObstaclePointCloudBasedValidator)

perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp → 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 <autoware/universe_utils/ros/debug_publisher.hpp>
-#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <message_filters/subscriber.h>
@@ -42,7 +42,10 @@
 #include <memory>
 #include <optional>
 #include <vector>
-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<pcl::PointXYZ>::Ptr convertToXYZ(
     const pcl::PointCloud<pcl::PointXY>::Ptr & pointcloud_xy);
-  inline pcl::PointCloud<pcl::PointXYZ>::Ptr getDebugNeighborPointCloud()
+  inline pcl::PointCloud<pcl::PointXYZ>::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<float> 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<float> getMaxRadius(
+    const autoware_perception_msgs::msg::DetectedObject & object) override;
   std::optional<size_t> getPointCloudWithinObject(
     const autoware_perception_msgs::msg::DetectedObject & object,
     const pcl::PointCloud<pcl::PointXY>::Ptr neighbor_pointcloud);
@@ -112,13 +118,16 @@ class Validator3D : public Validator
 
 public:
   explicit Validator3D(PointsNumThresholdParam & points_num_threshold_param);
-  inline pcl::PointCloud<pcl::PointXYZ>::Ptr getDebugNeighborPointCloud()
+  inline pcl::PointCloud<pcl::PointXYZ>::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<float> 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<float> getMaxRadius(
+    const autoware_perception_msgs::msg::DetectedObject & object) override;
   std::optional<size_t> getPointCloudWithinObject(
     const autoware_perception_msgs::msg::DetectedObject & object,
     const pcl::PointCloud<pcl::PointXYZ>::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_