Merge branch 'main' into feat/rearrange_grid_map_fusion

Author: YoshiRi

.cspell-partial.json

@@ -5,5 +5,5 @@
     "perception/bytetrack/lib/**"
   ],
   "ignoreRegExpList": [],
-  "words": ["dltype", "tvmgen", "quantizer", "imageio", "mimsave"]
+  "words": ["dltype", "tvmgen"]
 }

.github/CODEOWNERS

@@ -36,6 +36,9 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Check disk space before build
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -69,6 +72,9 @@ jobs:
           verbose: true
           flags: differential
 
+      - name: Check disk space after build
+        run: df -h
+
   clang-tidy-differential:
     runs-on: [self-hosted, linux, X64]
     container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda

.github/workflows/build-and-test-differential.yaml

@@ -5,6 +5,7 @@ on:
     paths:
       - "**/schema/*.schema.json"
       - "**/config/*.param.yaml"
+  workflow_dispatch:
 
 jobs:
   json-schema-check:

.github/workflows/json-schema-check.yaml

@@ -5,8 +5,6 @@
   <version>0.0.0</version>
   <description>The autoware_ad_api_specs package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
-  <maintainer email="makoto.yabuta@tier4.jp">yabuta</maintainer>
-  <maintainer email="kahhooi.tan@tier4.jp">Kah Hooi Tan</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
 

.github/workflows/spell-check-differential.yaml

@@ -13,18 +13,18 @@ set(OD_PLUGIN_LIB_SRC
 )
 
 set(OD_PLUGIN_LIB_HEADERS
-  include/visibility_control.hpp
+  include/autoware_auto_perception_rviz_plugin/visibility_control.hpp
 )
 set(OD_PLUGIN_LIB_HEADERS_TO_WRAP
-  include/object_detection/detected_objects_display.hpp
-  include/object_detection/tracked_objects_display.hpp
-  include/object_detection/predicted_objects_display.hpp
+  include/autoware_auto_perception_rviz_plugin/object_detection/detected_objects_display.hpp
+  include/autoware_auto_perception_rviz_plugin/object_detection/tracked_objects_display.hpp
+  include/autoware_auto_perception_rviz_plugin/object_detection/predicted_objects_display.hpp
 )
 
 set(COMMON_HEADERS
-  include/common/color_alpha_property.hpp
-  include/object_detection/object_polygon_detail.hpp
-  include/object_detection/object_polygon_display_base.hpp
+  include/autoware_auto_perception_rviz_plugin/common/color_alpha_property.hpp
+  include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp
+  include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp
 )
 
 set(COMMON_SRC

common/autoware_ad_api_specs/package.xml

@@ -11,13 +11,14 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef COMMON__COLOR_ALPHA_PROPERTY_HPP_
-#define COMMON__COLOR_ALPHA_PROPERTY_HPP_
+#ifndef AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__COMMON__COLOR_ALPHA_PROPERTY_HPP_
+#define AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__COMMON__COLOR_ALPHA_PROPERTY_HPP_
+
+#include "autoware_auto_perception_rviz_plugin/visibility_control.hpp"
 
 #include <rviz_common/display.hpp>
 #include <rviz_common/properties/color_property.hpp>
 #include <rviz_common/properties/float_property.hpp>
-#include <visibility_control.hpp>
 
 #include <std_msgs/msg/color_rgba.hpp>
 
@@ -55,4 +56,4 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ColorAlphaProperty
 }  // namespace rviz_plugins
 }  // namespace autoware
 
-#endif  // COMMON__COLOR_ALPHA_PROPERTY_HPP_
+#endif  // AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__COMMON__COLOR_ALPHA_PROPERTY_HPP_

common/autoware_auto_perception_rviz_plugin/CMakeLists.txt

@@ -11,10 +11,10 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
-#define OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
+#ifndef AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
+#define AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
 
-#include <object_detection/object_polygon_display_base.hpp>
+#include "autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp"
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 
@@ -43,4 +43,4 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC DetectedObjectsDisplay
 }  // namespace rviz_plugins
 }  // namespace autoware
 
-#endif  // OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
+#endif  // AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_

common/autoware_auto_perception_rviz_plugin/include/common/color_alpha_property.hpp common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/common/color_alpha_property.hpp

@@ -12,12 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 /// \brief This file defines some helper functions used by ObjectPolygonDisplayBase class
-#ifndef OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
-#define OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
+#ifndef AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
+#define AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
 
+#include "autoware_auto_perception_rviz_plugin/visibility_control.hpp"
+
+#include <Eigen/Core>
+#include <Eigen/Eigen>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <visibility_control.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_object.hpp>
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>
@@ -83,13 +86,15 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::Sha
 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 std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
+  const bool & is_orientation_available = true);
 
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_2d_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 std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
+  const bool & is_orientation_available = true);
 
 /// \brief Convert the given polygon into a marker representing the shape in 3d
 /// \param centroid Centroid position of the shape in Object.header.frame_id frame
@@ -110,8 +115,14 @@ get_uuid_marker_ptr(
   const std_msgs::msg::ColorRGBA & color_rgba);
 
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
-get_pose_with_covariance_marker_ptr(
-  const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance);
+get_pose_covariance_marker_ptr(
+  const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
+  const double & confidence_interval_coefficient);
+
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
+get_yaw_covariance_marker_ptr(
+  const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance, const double & length,
+  const double & confidence_interval_coefficient, const double & line_width);
 
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_velocity_text_marker_ptr(
@@ -128,6 +139,23 @@ get_twist_marker_ptr(
   const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
   const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance, const double & line_width);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
+get_twist_covariance_marker_ptr(
+  const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
+  const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance,
+  const double & confidence_interval_coefficient);
+
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
+get_yaw_rate_marker_ptr(
+  const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
+  const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance, const double & line_width);
+
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
+get_yaw_rate_covariance_marker_ptr(
+  const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
+  const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance,
+  const double & confidence_interval_coefficient, const double & line_width);
+
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_predicted_path_marker_ptr(
   const autoware_auto_perception_msgs::msg::Shape & shape,
@@ -139,14 +167,33 @@ get_path_confidence_marker_ptr(
   const autoware_auto_perception_msgs::msg::PredictedPath & predicted_path,
   const std_msgs::msg::ColorRGBA & path_confidence_color);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_arc_line_strip(
+  const double start_angle, const double end_angle, const double radius,
+  std::vector<geometry_msgs::msg::Point> & points);
+
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_line_list_from_points(
+  const double point_list[][3], const int point_pairs[][2], const int & num_pairs,
+  std::vector<geometry_msgs::msg::Point> & points);
+
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_covariance_eigen_vectors(
+  const Eigen::Matrix2d & matrix, double & sigma1, double & sigma2, double & yaw);
+
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_bounding_box_line_list(
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_bounding_box_direction_line_list(
+  const autoware_auto_perception_msgs::msg::Shape & shape,
+  std::vector<geometry_msgs::msg::Point> & points);
+
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_line_list(
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);
 
+AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_direction_line_list(
+  const autoware_auto_perception_msgs::msg::Shape & shape,
+  std::vector<geometry_msgs::msg::Point> & points);
+
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_cylinder_line_list(
   const autoware_auto_perception_msgs::msg::Shape & shape,
   std::vector<geometry_msgs::msg::Point> & points);
@@ -238,4 +285,4 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC
 }  // namespace rviz_plugins
 }  // namespace autoware
 
-#endif  // OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
+#endif  // AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_