Merge branch 'main' into perception-objects-pointcloud-better-visualization

Author: KhalilSelyan

.github/CODEOWNERS

@@ -15,6 +15,10 @@ Not applicable.
 
 Not applicable.
 
+## Interface changes
+
+<!-- Describe any changed interfaces, such as topics, services, or parameters, including debugging interfaces -->
+
 ## Pre-review checklist for the PR author
 
 The PR author **must** check the checkboxes below when creating the PR.

.github/PULL_REQUEST_TEMPLATE/small-change.md

@@ -18,6 +18,19 @@
 
 <!-- Describe any changed interfaces, such as topics, services, or parameters. -->
 
+### ROS Topic Changes
+
+<!-- | Topic Name       | Type                | Direction | Update Description                                            | -->
+<!-- | ---------------- | ------------------- | --------- | ------------------------------------------------------------- | -->
+<!-- | `/example_topic` | `std_msgs/String`   | Subscribe | Description of what the topic is used for in the system       | -->
+<!-- | `/another_topic` | `sensor_msgs/Image` | Publish   | Also explain if it is added / modified / deleted with the PR | -->
+
+### ROS Parameter Changes
+
+<!-- | Parameter Name       | Default Value | Update Description                                  | -->
+<!-- | -------------------- | ------------- | --------------------------------------------------- | -->
+<!-- | `example_parameters` | `1.0`         | Describe the parameter and also explain the updates | -->
+
 ## Effects on system behavior
 
 <!-- Describe how this PR affects the system behavior. -->

.github/PULL_REQUEST_TEMPLATE/standard-change.md

@@ -41,3 +41,7 @@ repositories:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
     version: main
+  universe/external/glog:  # TODO: to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
+    type: git
+    url: https://github.com/tier4/glog.git
+    version: v0.6.0_t4-ros

build_depends.repos

@@ -37,7 +37,9 @@ namespace types
 // We don't currently require code to comply to MISRA, but we should try to where it is
 // easily possible.
 using bool8_t = bool;
+#if __cplusplus < 201811L || !__cpp_char8_t
 using char8_t = char;
+#endif
 using uchar8_t = unsigned char;
 // If we ever compile on a platform where this is not true, float32_t and float64_t definitions
 // need to be adjusted.

common/autoware_auto_common/include/autoware_auto_common/common/types.hpp

@@ -57,6 +57,9 @@ struct ObjectPropertyValues
   float alpha{0.999F};
 };
 
+// Control object marker visualization
+enum class ObjectFillType { Skeleton, Fill };
+
 // Map defining colors according to value of label field in ObjectClassification msg
 const std::map<
   autoware_auto_perception_msgs::msg::ObjectClassification::_label_type, ObjectPropertyValues>
@@ -87,7 +90,8 @@ get_shape_marker_ptr(
   const autoware_auto_perception_msgs::msg::Shape & shape_msg,
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
   const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
-  const bool & is_orientation_available = true);
+  const bool & is_orientation_available = true,
+  const ObjectFillType fill_type = ObjectFillType::Skeleton);
 
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_2d_shape_marker_ptr(

common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp

@@ -37,6 +37,7 @@
 
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2_sensor_msgs/tf2_sensor_msgs.hpp>
 #include <unique_identifier_msgs/msg/uuid.hpp>
 
@@ -60,9 +61,6 @@
 #include <pcl/search/kdtree.h>
 #include <pcl/search/pcl_search.h>
 #include <pcl_conversions/pcl_conversions.h>
-
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
@@ -195,6 +193,12 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
       SLOT(updateTopic()));
     qos_profile_points_property = new rviz_common::properties::QosProfileProperty(
       m_default_pointcloud_topic, qos_profile_points);
+    m_object_fill_type_property = new rviz_common::properties::EnumProperty(
+      "Object Fill Type", "skeleton", "Change object fill type in visualization", this);
+    m_object_fill_type_property->addOption(
+      "skeleton", static_cast<int>(detail::ObjectFillType::Skeleton));
+    m_object_fill_type_property->addOption("Fill", static_cast<int>(detail::ObjectFillType::Fill));
+
     // iterate over default values to create and initialize the properties.
     for (const auto & map_property_it : detail::kDefaultObjectPropertyValues) {
       const auto & class_property_values = map_property_it.second;
@@ -416,9 +420,13 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     const bool & is_orientation_available) const
   {
     const std_msgs::msg::ColorRGBA color_rgba = get_color_rgba(labels);
+    const auto fill_type =
+      static_cast<detail::ObjectFillType>(m_object_fill_type_property->getOptionInt());
+
     if (m_display_type_property->getOptionInt() == 0) {
       return detail::get_shape_marker_ptr(
-        shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available);
+        shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available,
+        fill_type);
     } else if (m_display_type_property->getOptionInt() == 1) {
       return detail::get_2d_shape_marker_ptr(
         shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available);
@@ -860,6 +868,8 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   rviz_common::properties::EnumProperty * m_simple_visualize_mode_property;
   // Property to set confidence interval of state estimations
   rviz_common::properties::EnumProperty * m_confidence_interval_property;
+  // Property to set visualization type
+  rviz_common::properties::EnumProperty * m_object_fill_type_property;
   // Property to enable/disable label visualization
   rviz_common::properties::BoolProperty m_display_label_property;
   // Property to enable/disable uuid visualization

common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp

@@ -495,23 +495,37 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
   const autoware_auto_perception_msgs::msg::Shape & shape_msg,
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
   const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
-  const bool & is_orientation_available)
+  const bool & is_orientation_available, const ObjectFillType fill_type)
 {
   auto marker_ptr = std::make_shared<Marker>();
   marker_ptr->ns = std::string("shape");
+  marker_ptr->color = color_rgba;
+  marker_ptr->scale.x = line_width;
 
   using autoware_auto_perception_msgs::msg::Shape;
   if (shape_msg.type == Shape::BOUNDING_BOX) {
-    marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
-    calc_bounding_box_line_list(shape_msg, marker_ptr->points);
+    if (fill_type == ObjectFillType::Skeleton) {
+      marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
+      calc_bounding_box_line_list(shape_msg, marker_ptr->points);
+    } else if (fill_type == ObjectFillType::Fill) {
+      marker_ptr->type = visualization_msgs::msg::Marker::CUBE;
+      marker_ptr->scale = shape_msg.dimensions;
+      marker_ptr->color.a = 0.75f;
+    }
     if (is_orientation_available) {
       calc_bounding_box_direction_line_list(shape_msg, marker_ptr->points);
     } else {
       calc_bounding_box_orientation_line_list(shape_msg, marker_ptr->points);
     }
   } else if (shape_msg.type == Shape::CYLINDER) {
-    marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
-    calc_cylinder_line_list(shape_msg, marker_ptr->points);
+    if (fill_type == ObjectFillType::Skeleton) {
+      marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
+      calc_cylinder_line_list(shape_msg, marker_ptr->points);
+    } else if (fill_type == ObjectFillType::Fill) {
+      marker_ptr->type = visualization_msgs::msg::Marker::CYLINDER;
+      marker_ptr->scale = shape_msg.dimensions;
+      marker_ptr->color.a = 0.75f;
+    }
   } else if (shape_msg.type == Shape::POLYGON) {
     marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
     calc_polygon_line_list(shape_msg, marker_ptr->points);
@@ -523,8 +537,6 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
   marker_ptr->pose = to_pose(centroid, orientation);
   marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);
-  marker_ptr->scale.x = line_width;
-  marker_ptr->color = color_rgba;
 
   return marker_ptr;
 }

common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

@@ -0,0 +1,108 @@
+cmake_minimum_required(VERSION 3.8)
+project(autoware_mission_details_overlay_rviz_plugin)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(
+  headers_to_moc
+  include/mission_details_display.hpp
+)
+
+set(
+  headers_to_not_moc
+  include/remaining_distance_time_display.hpp
+)
+
+foreach(header "${headers_to_moc}")
+  qt5_wrap_cpp(display_moc_files "${header}")
+endforeach()
+
+set(
+  display_source_files
+  src/overlay_utils.cpp
+  src/mission_details_display.cpp
+  src/remaining_distance_time_display.cpp
+)
+
+add_library(
+  ${PROJECT_NAME} SHARED
+  ${display_moc_files}
+  ${headers_to_not_moc}
+  ${display_source_files}
+)
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17)
+target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic)
+
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${Qt5Widgets_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+target_link_libraries(
+  ${PROJECT_NAME} PUBLIC
+  rviz_ogre_vendor::OgreMain
+  rviz_ogre_vendor::OgreOverlay
+)
+
+target_compile_definitions(${PROJECT_NAME} PRIVATE "${PROJECT_NAME}_BUILDING_LIBRARY")
+
+# prevent pluginlib from using boost
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+ament_target_dependencies(
+  ${PROJECT_NAME}
+  PUBLIC
+  rviz_common
+  rviz_rendering
+  autoware_internal_msgs
+)
+
+ament_export_include_directories(include)
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  rviz_common
+  rviz_ogre_vendor
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Copy the assets directory to the installation directory
+install(
+  DIRECTORY assets/
+  DESTINATION share/${PROJECT_NAME}/assets
+)
+
+add_definitions(-DQT_NO_KEYWORDS)
+
+ament_package(
+  CONFIG_EXTRAS "autoware_mission_details_overlay_rviz_plugin-extras.cmake"
+)

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,12 @@
+Copyright (c) 2022, Team Spatzenhirn
+Copyright (c) 2014, JSK Lab
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE

@@ -0,0 +1,35 @@
+# autoware_mission_details_overlay_rviz_plugin
+
+This RViz plugin displays the remaining distance and time for the current mission.
+
+## Inputs / Outputs
+
+### Input
+
+| Name                                        | Type                                                        | Description                                          |
+| ------------------------------------------- | ----------------------------------------------------------- | ---------------------------------------------------- |
+| `/planning/mission_remaining_distance_time` | `autoware_planning_msgs::msg::MissionRemainingDistanceTime` | The topic is for mission remaining distance and time |
+
+## Overlay Parameters
+
+| Name     | Type | Default Value | Description                       |
+| -------- | ---- | ------------- | --------------------------------- |
+| `Width`  | int  | 170           | Width of the overlay [px]         |
+| `Height` | int  | 100           | Height of the overlay [px]        |
+| `Right`  | int  | 10            | Margin from the right border [px] |
+| `Top`    | int  | 10            | Margin from the top border [px]   |
+
+The mission details display is aligned with top right corner of the screen.
+
+## Usage
+
+Similar to [autoware_overlay_rviz_plugin](../autoware_overlay_rviz_plugin/README.md)
+
+## Credits
+
+Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization) package.
+
+### Icons
+
+- <https://fonts.google.com/icons?selected=Material+Symbols+Outlined:conversion_path:FILL@1;wght@400;GRAD@200;opsz@20&icon.size=20&icon.color=%23e8eaed&icon.query=path>
+- <https://fonts.google.com/icons?selected=Material+Symbols+Outlined:av_timer:FILL@1;wght@400;GRAD@200;opsz@20&icon.size=20&icon.color=%23e8eaed&icon.query=av+timer>