refactor(grid_map_utils): add autoware prefix and namespace (autowarefoundation#7487)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Author: maxime-clem

.github/CODEOWNERS

@@ -16,7 +16,7 @@ common/geography_utils/** koji.minoda@tier4.jp
 common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp
 common/glog_component/** takamasa.horibe@tier4.jp
 common/goal_distance_calculator/** taiki.tanaka@tier4.jp
-common/grid_map_utils/** maxime.clement@tier4.jp
+common/autoware_grid_map_utils/** maxime.clement@tier4.jp
 common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp
 common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp
 common/motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp

common/.pages

@@ -7,12 +7,12 @@ nav:
   - 'Common Libraries':
     - 'autoware_auto_common':
       - 'comparisons': common/autoware_auto_common/design/comparisons
+    - 'autoware_grid_map_utils': common/autoware_grid_map_utils
     - 'autoware_point_types': common/autoware_point_types
     - 'Cuda Utils': common/cuda_utils
     - 'Geography Utils': common/geography_utils
     - 'Global Parameter Loader': common/global_parameter_loader/Readme
     - 'Glog Component': common/glog_component
-    - 'grid_map_utils': common/grid_map_utils
     - 'interpolation': common/interpolation
     - 'Kalman Filter': common/kalman_filter
     - 'Motion Utils': common/motion_utils

common/grid_map_utils/CMakeLists.txt common/autoware_grid_map_utils/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(grid_map_utils)
+project(autoware_grid_map_utils)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)

common/grid_map_utils/README.md common/autoware_grid_map_utils/README.md

@@ -19,18 +19,18 @@ More details on the scan line algorithm can be found in the References.
 
 ## API
 
-The `grid_map_utils::PolygonIterator` follows the same API as the original [`grid_map::PolygonIterator`](https://docs.ros.org/en/kinetic/api/grid_map_core/html/classgrid__map_1_1PolygonIterator.html).
+The `autoware::grid_map_utils::PolygonIterator` follows the same API as the original [`grid_map::PolygonIterator`](https://docs.ros.org/en/kinetic/api/grid_map_core/html/classgrid__map_1_1PolygonIterator.html).
 
 ## Assumptions
 
-The behavior of the `grid_map_utils::PolygonIterator` is only guaranteed to match the `grid_map::PolygonIterator` if edges of the polygon do not _exactly_ cross any cell center.
+The behavior of the `autoware::grid_map_utils::PolygonIterator` is only guaranteed to match the `grid_map::PolygonIterator` if edges of the polygon do not _exactly_ cross any cell center.
 In such a case, whether the crossed cell is considered inside or outside of the polygon can vary due to floating precision error.
 
 ## Performances
 
-Benchmarking code is implemented in `test/benchmarking.cpp` and is also used to validate that the `grid_map_utils::PolygonIterator` behaves exactly like the `grid_map::PolygonIterator`.
+Benchmarking code is implemented in `test/benchmarking.cpp` and is also used to validate that the `autoware::grid_map_utils::PolygonIterator` behaves exactly like the `grid_map::PolygonIterator`.
 
-The following figure shows a comparison of the runtime between the implementation of this package (`grid_map_utils`) and the original implementation (`grid_map`).
+The following figure shows a comparison of the runtime between the implementation of this package (`autoware_grid_map_utils`) and the original implementation (`grid_map`).
 The time measured includes the construction of the iterator and the iteration over all indexes and is shown using a logarithmic scale.
 Results were obtained varying the side size of a square grid map with `100 <= n <= 1000` (size=`n` means a grid of `n x n` cells),
 random polygons with a number of vertices `3 <= m <= 100` and with each parameter `(n,m)` repeated 10 times.

common/grid_map_utils/include/grid_map_utils/polygon_iterator.hpp common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_
-#define GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_
+#ifndef AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_
+#define AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_
 
 #include "grid_map_core/TypeDefs.hpp"
 
@@ -24,7 +24,7 @@
 #include <utility>
 #include <vector>
 
-namespace grid_map_utils
+namespace autoware::grid_map_utils
 {
 
 /// @brief Representation of a polygon edge made of 2 vertices
@@ -124,6 +124,6 @@ class PolygonIterator
   int current_col_;
   int current_to_col_;
 };
-}  // namespace grid_map_utils
+}  // namespace autoware::grid_map_utils
 
-#endif  // GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_
+#endif  // AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_

common/grid_map_utils/media/runtime_comparison.png common/autoware_grid_map_utils/media/runtime_comparison.png

@@ -1,7 +1,7 @@
 <?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>grid_map_utils</name>
+  <name>autoware_grid_map_utils</name>
   <version>0.0.0</version>
   <description>Utilities for the grid_map library</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>

common/grid_map_utils/package.xml common/autoware_grid_map_utils/package.xml

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "grid_map_utils/polygon_iterator.hpp"
+#include "autoware_grid_map_utils/polygon_iterator.hpp"
 
 #include "grid_map_core/GridMap.hpp"
 #include "grid_map_core/Polygon.hpp"
@@ -22,7 +22,7 @@
 #include <functional>
 #include <utility>
 
-namespace grid_map_utils
+namespace autoware::grid_map_utils
 {
 
 std::vector<Edge> PolygonIterator::calculateSortedEdges(const grid_map::Polygon & polygon)
@@ -214,4 +214,4 @@ PolygonIterator & PolygonIterator::operator++()
 {
   return current_line_ >= intersections_per_line_.size();
 }
-}  // namespace grid_map_utils
+}  // namespace autoware::grid_map_utils

common/grid_map_utils/src/polygon_iterator.cpp common/autoware_grid_map_utils/src/polygon_iterator.cpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware_grid_map_utils/polygon_iterator.hpp"
 #include "grid_map_core/TypeDefs.hpp"
 #include "grid_map_cv/GridMapCvConverter.hpp"
 #include "grid_map_cv/GridMapCvProcessing.hpp"
-#include "grid_map_utils/polygon_iterator.hpp"
 
 #include <grid_map_core/iterators/PolygonIterator.hpp>
 #include <grid_map_cv/grid_map_cv.hpp>
@@ -116,7 +116,7 @@ int main(int argc, char * argv[])
           polygon.addVertex(base_polygon.getVertex(idx) + offset);
         }
         stopwatch.tic("gmu_ctor");
-        grid_map_utils::PolygonIterator grid_map_utils_iterator(map, polygon);
+        autoware::grid_map_utils::PolygonIterator grid_map_utils_iterator(map, polygon);
         grid_map_utils_constructor_duration += stopwatch.toc("gmu_ctor");
         stopwatch.tic("gm_ctor");
         grid_map::PolygonIterator grid_map_iterator(map, polygon);
@@ -143,8 +143,8 @@ int main(int argc, char * argv[])
         if (diff || visualize) {
           // Prepare images of the cells selected by the two PolygonIterators
           auto gridmap = map;
-          for (grid_map_utils::PolygonIterator iterator(map, polygon); !iterator.isPastEnd();
-               ++iterator)
+          for (autoware::grid_map_utils::PolygonIterator iterator(map, polygon);
+               !iterator.isPastEnd(); ++iterator)
             map.at("layer", *iterator) = 100;
           for (grid_map::PolygonIterator iterator(gridmap, polygon); !iterator.isPastEnd();
                ++iterator)

common/grid_map_utils/test/benchmark.cpp common/autoware_grid_map_utils/test/benchmark.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "grid_map_utils/polygon_iterator.hpp"
+#include "autoware_grid_map_utils/polygon_iterator.hpp"
 
 #include <grid_map_core/iterators/PolygonIterator.hpp>
 #include <tier4_autoware_utils/system/stop_watch.hpp>
@@ -45,7 +45,7 @@ TEST(PolygonIterator, FullCover)
   polygon.addVertex(Position(100.0, -100.0));
   polygon.addVertex(Position(-100.0, -100.0));
 
-  grid_map_utils::PolygonIterator iterator(map, polygon);
+  autoware::grid_map_utils::PolygonIterator iterator(map, polygon);
 
   EXPECT_FALSE(iterator.isPastEnd());
   EXPECT_EQ(0, (*iterator)(0));
@@ -83,7 +83,7 @@ TEST(PolygonIterator, Outside)
   polygon.addVertex(Position(101.0, 99.0));
   polygon.addVertex(Position(99.0, 99.0));
 
-  grid_map_utils::PolygonIterator iterator(map, polygon);
+  autoware::grid_map_utils::PolygonIterator iterator(map, polygon);
 
   EXPECT_TRUE(iterator.isPastEnd());
 }
@@ -100,7 +100,7 @@ TEST(PolygonIterator, Square)
   polygon.addVertex(Position(1.0, -1.5));
   polygon.addVertex(Position(-1.0, -1.5));
 
-  grid_map_utils::PolygonIterator iterator(map, polygon);
+  autoware::grid_map_utils::PolygonIterator iterator(map, polygon);
 
   EXPECT_FALSE(iterator.isPastEnd());
   EXPECT_EQ(3, (*iterator)(0));
@@ -146,7 +146,7 @@ TEST(PolygonIterator, TopLeftTriangle)
   polygon.addVertex(Position(40.1, 20.4));
   polygon.addVertex(Position(-40.1, -20.6));
 
-  grid_map_utils::PolygonIterator iterator(map, polygon);
+  autoware::grid_map_utils::PolygonIterator iterator(map, polygon);
 
   EXPECT_FALSE(iterator.isPastEnd());
   EXPECT_EQ(0, (*iterator)(0));
@@ -170,7 +170,7 @@ TEST(PolygonIterator, MoveMap)
   polygon.addVertex(Position(0.9, 1.6));
   polygon.addVertex(Position(0.9, -1.6));
   polygon.addVertex(Position(6.1, -1.6));
-  grid_map_utils::PolygonIterator iterator(map, polygon);
+  autoware::grid_map_utils::PolygonIterator iterator(map, polygon);
 
   EXPECT_FALSE(iterator.isPastEnd());
   EXPECT_EQ(6, (*iterator)(0));
@@ -213,7 +213,7 @@ TEST(PolygonIterator, Difference)
   polygon.addVertex(Position(2.5, 2.5));
   polygon.addVertex(Position(-2.5, 2.5));
   polygon.addVertex(Position(-2.5, -2.5));
-  grid_map_utils::PolygonIterator iterator(map, polygon);
+  autoware::grid_map_utils::PolygonIterator iterator(map, polygon);
   grid_map::PolygonIterator gm_iterator(map, polygon);
   bool diff = false;
   while (!iterator.isPastEnd() && !gm_iterator.isPastEnd()) {
@@ -231,7 +231,7 @@ TEST(PolygonIterator, Difference)
   polygon.addVertex(Position(2.5, 2.1));
   polygon.addVertex(Position(-2.5, 2.5));
   polygon.addVertex(Position(-2.5, -2.9));
-  iterator = grid_map_utils::PolygonIterator(map, polygon);
+  iterator = autoware::grid_map_utils::PolygonIterator(map, polygon);
   gm_iterator = grid_map::PolygonIterator(map, polygon);
   diff = false;
   while (!iterator.isPastEnd() && !gm_iterator.isPastEnd()) {
@@ -256,7 +256,7 @@ TEST(PolygonIterator, SelfCrossingPolygon)
   polygon.addVertex(Position(2.5, -2.9));
   polygon.addVertex(Position(-2.5, 2.5));
   polygon.addVertex(Position(-2.5, -2.5));
-  grid_map_utils::PolygonIterator iterator(map, polygon);
+  autoware::grid_map_utils::PolygonIterator iterator(map, polygon);
   grid_map::PolygonIterator gm_iterator(map, polygon);
 
   const std::vector<Index> expected_indexes = {

common/grid_map_utils/test/test_polygon_iterator.cpp common/autoware_grid_map_utils/test/test_polygon_iterator.cpp

@@ -12,11 +12,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_grid_map_utils</depend>
   <depend>autoware_map_msgs</depend>
   <depend>grid_map_cv</depend>
   <depend>grid_map_pcl</depend>
   <depend>grid_map_ros</depend>
-  <depend>grid_map_utils</depend>
   <depend>lanelet2_extension</depend>
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>

perception/elevation_map_loader/package.xml

@@ -14,12 +14,12 @@
 
 #include "elevation_map_loader/elevation_map_loader_node.hpp"
 
+#include <autoware_grid_map_utils/polygon_iterator.hpp>
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_cv/InpaintFilter.hpp>
 #include <grid_map_pcl/GridMapPclLoader.hpp>
 #include <grid_map_pcl/helpers.hpp>
 #include <grid_map_ros/GridMapRosConverter.hpp>
-#include <grid_map_utils/polygon_iterator.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <rclcpp/logger.hpp>
@@ -382,8 +382,8 @@ void ElevationMapLoaderNode::inpaintElevationMap(const float radius)
       for (const auto & p : lane_polygon) {
         polygon.addVertex(grid_map::Position(p[0], p[1]));
       }
-      for (grid_map_utils::PolygonIterator iterator(elevation_map_, polygon); !iterator.isPastEnd();
-           ++iterator) {
+      for (autoware::grid_map_utils::PolygonIterator iterator(elevation_map_, polygon);
+           !iterator.isPastEnd(); ++iterator) {
         if (!elevation_map_.isValid(*iterator, layer_name_)) {
           elevation_map_.at("inpaint_mask", *iterator) = 1.0;
         }

perception/elevation_map_loader/src/elevation_map_loader_node.cpp

@@ -22,6 +22,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_velocity_planner_common</depend>
+  <depend>autoware_grid_map_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
@@ -30,7 +31,6 @@
   <depend>geometry_msgs</depend>
   <depend>grid_map_core</depend>
   <depend>grid_map_ros</depend>
-  <depend>grid_map_utils</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
   <depend>libboost-dev</depend>

planning/autoware_behavior_velocity_crosswalk_module/package.xml

@@ -16,8 +16,8 @@
 
 #include "autoware_behavior_velocity_crosswalk_module/util.hpp"
 
+#include <autoware_grid_map_utils/polygon_iterator.hpp>
 #include <grid_map_ros/GridMapRosConverter.hpp>
-#include <grid_map_utils/polygon_iterator.hpp>
 
 #include <algorithm>
 #include <vector>
@@ -129,7 +129,8 @@ void clear_occlusions_behind_objects(
       polygon_to_clear.addVertex(
         interpolate_point({grid_map_position, edge_points.back()}, 10.0 * range));
       polygon_to_clear.addVertex(edge_points.back());
-      for (grid_map_utils::PolygonIterator it(grid_map, polygon_to_clear); !it.isPastEnd(); ++it)
+      for (autoware::grid_map_utils::PolygonIterator it(grid_map, polygon_to_clear);
+           !it.isPastEnd(); ++it)
         grid_map.at("layer", *it) = 0;
     }
   }
@@ -156,7 +157,7 @@ bool is_crosswalk_occluded(
          crosswalk_lanelet, {path_intersection.x, path_intersection.y}, detection_range)) {
     grid_map::Polygon poly;
     for (const auto & p : detection_area) poly.addVertex(grid_map::Position(p.x(), p.y()));
-    for (grid_map_utils::PolygonIterator iter(grid_map, poly); !iter.isPastEnd(); ++iter)
+    for (autoware::grid_map_utils::PolygonIterator iter(grid_map, poly); !iter.isPastEnd(); ++iter)
       if (is_occluded(grid_map, min_nb_of_cells, *iter, params)) return true;
   }
   return false;

planning/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp

@@ -17,13 +17,13 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_behavior_velocity_planner_common</depend>
+  <depend>autoware_grid_map_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>grid_map_ros</depend>
-  <depend>grid_map_utils</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
   <depend>libboost-dev</depend>

planning/autoware_behavior_velocity_occlusion_spot_module/package.xml

@@ -52,8 +52,8 @@ void findOcclusionSpots(
   for (const auto & point : polygon.outer()) {
     grid_polygon.addVertex({point.x(), point.y()});
   }
-  for (grid_map_utils::PolygonIterator iterator(grid, grid_polygon); !iterator.isPastEnd();
-       ++iterator) {
+  for (autoware::grid_map_utils::PolygonIterator iterator(grid, grid_polygon);
+       !iterator.isPastEnd(); ++iterator) {
     const grid_map::Index & index = *iterator;
     if (grid_data(index.x(), index.y()) == grid_utils::occlusion_cost_value::UNKNOWN) {
       grid_map::Position occlusion_spot_position;
@@ -77,8 +77,8 @@ bool isCollisionFree(
     for (const auto & point : polygon.outer()) {
       grid_polygon.addVertex({point.x(), point.y()});
     }
-    for (grid_map_utils::PolygonIterator iterator(grid, grid_polygon); !iterator.isPastEnd();
-         ++iterator) {
+    for (autoware::grid_map_utils::PolygonIterator iterator(grid, grid_polygon);
+         !iterator.isPastEnd(); ++iterator) {
       const grid_map::Index & index = *iterator;
       if (grid_data(index.x(), index.y()) == grid_utils::occlusion_cost_value::OCCUPIED) {
         return false;

planning/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp

@@ -17,10 +17,10 @@
 
 #include <autoware_behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
 #include <autoware_behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware_grid_map_utils/polygon_iterator.hpp>
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_core/iterators/LineIterator.hpp>
 #include <grid_map_ros/GridMapRosConverter.hpp>
-#include <grid_map_utils/polygon_iterator.hpp>
 #include <opencv2/opencv.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/math/normalization.hpp>

planning/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp

@@ -102,8 +102,8 @@ TEST(compareTime, polygon_vs_line_iterator)
         for (const auto & point : polygon.outer()) {
           grid_polygon.addVertex({point.x(), point.y()});
         }
-        for (grid_map_utils::PolygonIterator iterator(grid, grid_polygon); !iterator.isPastEnd();
-             ++iterator) {
+        for (autoware::grid_map_utils::PolygonIterator iterator(grid, grid_polygon);
+             !iterator.isPastEnd(); ++iterator) {
           const grid_map::Index & index = *iterator;
           if (grid_data(index.x(), index.y()) == OCCUPIED) {
             std::cout << "occupied" << std::endl;

planning/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp

@@ -111,7 +111,7 @@ Obstacles from the lanelet map are not impacted by the masks.
 
 #### Occupancy Grid
 
-Masking is performed by iterating through the cells inside each polygon mask using the [`grid_map_utils::PolygonIterator`](https://github.com/autowarefoundation/autoware.universe/tree/main/common/grid_map_utils) function.
+Masking is performed by iterating through the cells inside each polygon mask using the [`autoware::grid_map_utils::PolygonIterator`](https://github.com/autowarefoundation/autoware.universe/tree/main/common/autoware_grid_map_utils) function.
 A threshold is then applied to only keep cells with an occupancy value above parameter `obstacles.occupancy_grid_threshold`.
 Finally, the image is converted to an image and obstacle linestrings are extracted using the opencv function
 [`findContour`](https://docs.opencv.org/3.4/d3/dc0/group__imgproc__shape.html#ga17ed9f5d79ae97bd4c7cf18403e1689a).

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/README.md

@@ -11,6 +11,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_grid_map_utils</depend>
   <depend>autoware_motion_velocity_planner_common</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
@@ -19,7 +20,6 @@
   <depend>eigen</depend>
   <depend>grid_map_msgs</depend>
   <depend>grid_map_ros</depend>
-  <depend>grid_map_utils</depend>
   <depend>lanelet2_core</depend>
   <depend>lanelet2_extension</depend>
   <depend>libboost-dev</depend>