diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 2aa4240652244..44efd809f3f08 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -134,7 +134,7 @@ perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.r perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml index 3fcf4eeb9db8a..8b2d6ab79bf57 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml @@ -166,7 +166,7 @@ - + @@ -222,7 +222,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml index 52af37150cea5..d60de26341a0a 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml @@ -66,7 +66,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml index abfe692ed6e70..76ed8ad5b2700 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml @@ -21,7 +21,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 0e99bd5af69d9..018b4142547d0 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -31,6 +31,7 @@ autoware_radar_object_clustering autoware_radar_object_tracker autoware_raindrop_cluster_filter + autoware_shape_estimation autoware_tracking_object_merger compare_map_segmentation elevation_map_loader @@ -40,7 +41,6 @@ occupancy_grid_map_outlier_filter pointcloud_to_laserscan probabilistic_occupancy_grid_map - shape_estimation topic_tools traffic_light_arbiter traffic_light_classifier diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index dd5a719e70270..6f23baeefbd3e 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -14,12 +14,12 @@ eigen3_cmake_module autoware_euclidean_cluster + autoware_shape_estimation autoware_universe_utils eigen object_recognition_utils rclcpp rclcpp_components - shape_estimation tf2 tf2_geometry_msgs tf2_ros diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/autoware_shape_estimation/CMakeLists.txt similarity index 97% rename from perception/shape_estimation/CMakeLists.txt rename to perception/autoware_shape_estimation/CMakeLists.txt index 21517f8c0f766..b19f422c28d27 100644 --- a/perception/shape_estimation/CMakeLists.txt +++ b/perception/autoware_shape_estimation/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(shape_estimation) +project(autoware_shape_estimation) find_package(autoware_cmake REQUIRED) autoware_package() @@ -54,7 +54,7 @@ target_include_directories(${PROJECT_NAME} ament_target_dependencies(${PROJECT_NAME} ${SHAPE_ESTIMATION_DEPENDENCIES}) target_link_libraries(${PROJECT_NAME} - shape_estimation_lib + ${PROJECT_NAME}_lib ) rclcpp_components_register_node(${PROJECT_NAME} diff --git a/perception/shape_estimation/README.md b/perception/autoware_shape_estimation/README.md similarity index 94% rename from perception/shape_estimation/README.md rename to perception/autoware_shape_estimation/README.md index 9615b314f62c6..5f184c32f1805 100644 --- a/perception/shape_estimation/README.md +++ b/perception/autoware_shape_estimation/README.md @@ -1,4 +1,4 @@ -# shape_estimation +# autoware_shape_estimation ## Purpose @@ -36,7 +36,7 @@ This node calculates a refined object shape (bounding box, cylinder, convex hull ## Parameters -{{ json_to_markdown("perception/autoware/shape_estimation/schema/shape_estimation.schema.json") }} +{{ json_to_markdown("perception/autoware_shape_estimation/schema/shape_estimation.schema.json") }} ## Assumptions / Known limits diff --git a/perception/shape_estimation/config/shape_estimation.param.yaml b/perception/autoware_shape_estimation/config/shape_estimation.param.yaml similarity index 100% rename from perception/shape_estimation/config/shape_estimation.param.yaml rename to perception/autoware_shape_estimation/config/shape_estimation.param.yaml diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/filter.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/filter/filter.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/filter.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/utils.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/utils.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/filter/utils.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/utils.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/model.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/model.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/model/model.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/model.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp diff --git a/perception/shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp similarity index 100% rename from perception/shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp diff --git a/perception/shape_estimation/launch/shape_estimation.launch.xml b/perception/autoware_shape_estimation/launch/shape_estimation.launch.xml similarity index 62% rename from perception/shape_estimation/launch/shape_estimation.launch.xml rename to perception/autoware_shape_estimation/launch/shape_estimation.launch.xml index 88cea81412d97..816653013c6c8 100644 --- a/perception/shape_estimation/launch/shape_estimation.launch.xml +++ b/perception/autoware_shape_estimation/launch/shape_estimation.launch.xml @@ -3,9 +3,9 @@ - + - + diff --git a/perception/shape_estimation/lib/corrector/no_corrector.cpp b/perception/autoware_shape_estimation/lib/corrector/no_corrector.cpp similarity index 100% rename from perception/shape_estimation/lib/corrector/no_corrector.cpp rename to perception/autoware_shape_estimation/lib/corrector/no_corrector.cpp diff --git a/perception/shape_estimation/lib/corrector/utils.cpp b/perception/autoware_shape_estimation/lib/corrector/utils.cpp similarity index 100% rename from perception/shape_estimation/lib/corrector/utils.cpp rename to perception/autoware_shape_estimation/lib/corrector/utils.cpp diff --git a/perception/shape_estimation/lib/filter/bus_filter.cpp b/perception/autoware_shape_estimation/lib/filter/bus_filter.cpp similarity index 100% rename from perception/shape_estimation/lib/filter/bus_filter.cpp rename to perception/autoware_shape_estimation/lib/filter/bus_filter.cpp diff --git a/perception/shape_estimation/lib/filter/car_filter.cpp b/perception/autoware_shape_estimation/lib/filter/car_filter.cpp similarity index 100% rename from perception/shape_estimation/lib/filter/car_filter.cpp rename to perception/autoware_shape_estimation/lib/filter/car_filter.cpp diff --git a/perception/shape_estimation/lib/filter/no_filter.cpp b/perception/autoware_shape_estimation/lib/filter/no_filter.cpp similarity index 100% rename from perception/shape_estimation/lib/filter/no_filter.cpp rename to perception/autoware_shape_estimation/lib/filter/no_filter.cpp diff --git a/perception/shape_estimation/lib/filter/trailer_filter.cpp b/perception/autoware_shape_estimation/lib/filter/trailer_filter.cpp similarity index 100% rename from perception/shape_estimation/lib/filter/trailer_filter.cpp rename to perception/autoware_shape_estimation/lib/filter/trailer_filter.cpp diff --git a/perception/shape_estimation/lib/filter/truck_filter.cpp b/perception/autoware_shape_estimation/lib/filter/truck_filter.cpp similarity index 100% rename from perception/shape_estimation/lib/filter/truck_filter.cpp rename to perception/autoware_shape_estimation/lib/filter/truck_filter.cpp diff --git a/perception/shape_estimation/lib/filter/utils.cpp b/perception/autoware_shape_estimation/lib/filter/utils.cpp similarity index 100% rename from perception/shape_estimation/lib/filter/utils.cpp rename to perception/autoware_shape_estimation/lib/filter/utils.cpp diff --git a/perception/shape_estimation/lib/model/bounding_box.cpp b/perception/autoware_shape_estimation/lib/model/bounding_box.cpp similarity index 100% rename from perception/shape_estimation/lib/model/bounding_box.cpp rename to perception/autoware_shape_estimation/lib/model/bounding_box.cpp diff --git a/perception/shape_estimation/lib/model/convex_hull.cpp b/perception/autoware_shape_estimation/lib/model/convex_hull.cpp similarity index 100% rename from perception/shape_estimation/lib/model/convex_hull.cpp rename to perception/autoware_shape_estimation/lib/model/convex_hull.cpp diff --git a/perception/shape_estimation/lib/model/cylinder.cpp b/perception/autoware_shape_estimation/lib/model/cylinder.cpp similarity index 100% rename from perception/shape_estimation/lib/model/cylinder.cpp rename to perception/autoware_shape_estimation/lib/model/cylinder.cpp diff --git a/perception/shape_estimation/lib/shape_estimator.cpp b/perception/autoware_shape_estimation/lib/shape_estimator.cpp similarity index 100% rename from perception/shape_estimation/lib/shape_estimator.cpp rename to perception/autoware_shape_estimation/lib/shape_estimator.cpp diff --git a/perception/shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml similarity index 96% rename from perception/shape_estimation/package.xml rename to perception/autoware_shape_estimation/package.xml index 8eab542036177..ad226a5cc2f66 100644 --- a/perception/shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -1,7 +1,7 @@ - shape_estimation + autoware_shape_estimation 0.1.0 This package implements a shape estimation algorithm as a ROS 2 node Yukihiro Saito diff --git a/perception/shape_estimation/schema/shape_estimation.schema.json b/perception/autoware_shape_estimation/schema/shape_estimation.schema.json similarity index 100% rename from perception/shape_estimation/schema/shape_estimation.schema.json rename to perception/autoware_shape_estimation/schema/shape_estimation.schema.json diff --git a/perception/shape_estimation/src/shape_estimation_node.cpp b/perception/autoware_shape_estimation/src/shape_estimation_node.cpp similarity index 100% rename from perception/shape_estimation/src/shape_estimation_node.cpp rename to perception/autoware_shape_estimation/src/shape_estimation_node.cpp diff --git a/perception/shape_estimation/src/shape_estimation_node.hpp b/perception/autoware_shape_estimation/src/shape_estimation_node.hpp similarity index 100% rename from perception/shape_estimation/src/shape_estimation_node.hpp rename to perception/autoware_shape_estimation/src/shape_estimation_node.hpp diff --git a/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp b/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp similarity index 100% rename from perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp rename to perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp diff --git a/perception/shape_estimation/test/test_shape_estimation.cpp b/perception/autoware_shape_estimation/test/test_shape_estimation.cpp similarity index 100% rename from perception/shape_estimation/test/test_shape_estimation.cpp rename to perception/autoware_shape_estimation/test/test_shape_estimation.cpp diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml index 67a76b510e1bf..41025f74cbe50 100644 --- a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml +++ b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml @@ -24,7 +24,7 @@ - +