feat: apply autoware_ prefix for perception_online_evaluator (#9956)

* feat(perception_online_evaluator): apply `autoware_` prefix (see below):

  * In this commit, I did not organize a folder structure.
    The folder structure will be organized in the next some commits.
  * The changes will follow the Autoware's guideline as below:
      - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* bug(perception_online_evaluator): remove duplicated properties

  * It seems the `motion_evaluator` is defined and used in the `autoware_planning_evaluator`

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* rename(perception_online_evaluator): move headers under `include/autoware`:

  * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* fix(perception_online_evaluator): fix include paths

  * To follow the previous commit

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* rename: `perception_online_evaluator` => `autoware_perception_online_evaluator`

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* style(pre-commit): autofix

* bug(autoware_perception_online_evaluator): revert wrongly updated copyright

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* bug(autoware_perception_online_evaluator): `autoware_` prefix is not needed here

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* update: `CODEOWNERS`

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

* bug(autoware_perception_online_evaluator): fix a wrong package name

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

---------

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: sasakisasaki

.github/CODEOWNERS

@@ -51,7 +51,7 @@ evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@
 evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp
 evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 evaluator/localization_evaluator/** anh.nguyen.2@tier4.jp dominik.jargot@robotec.ai koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
+evaluator/autoware_perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp junya.sasaki@tier4.jp
 evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp
 launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
 launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp

evaluator/perception_online_evaluator/CHANGELOG.rst evaluator/autoware_perception_online_evaluator/CHANGELOG.rst

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_perception_online_evaluator)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(pluginlib REQUIRED)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/metrics_calculator.cpp
+  src/perception_online_evaluator_node.cpp
+  src/metrics/deviation_metrics.cpp
+  src/metrics/detection_count.cpp
+  src/utils/marker_utils.cpp
+  src/utils/objects_filtering.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::perception_diagnostics::PerceptionOnlineEvaluatorNode"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
+target_link_libraries(${PROJECT_NAME} glog::glog)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_perception_online_evaluator_node
+    test/test_perception_online_evaluator_node.cpp
+    TIMEOUT 300
+  )
+  target_link_libraries(test_perception_online_evaluator_node
+    ${PROJECT_NAME}
+  )
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+    param
+    launch
+)

evaluator/autoware_perception_online_evaluator/CMakeLists.txt

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
 
-#include "perception_online_evaluator/parameters.hpp"
+#include "autoware/perception_online_evaluator/parameters.hpp"
 #include "tf2_ros/buffer.h"
 
 #include <rclcpp/rclcpp.hpp>
@@ -32,7 +32,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 namespace metrics
 {
@@ -143,6 +143,6 @@ class DetectionCounter
     seen_uuids_;
 };
 }  // namespace metrics
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_

evaluator/perception_online_evaluator/README.md evaluator/autoware_perception_online_evaluator/README.md

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
 
 #include <autoware_perception_msgs/msg/predicted_path.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 namespace metrics
 {
@@ -44,6 +44,6 @@ double calcLateralDeviation(const std::vector<Pose> & ref_path, const Pose & tar
 double calcYawDeviation(const std::vector<Pose> & ref_path, const Pose & target_pose);
 
 }  // namespace metrics
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_

evaluator/perception_online_evaluator/images/detection_counts.drawio.svg evaluator/autoware_perception_online_evaluator/images/detection_counts.drawio.svg

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
 
 #include "autoware/universe_utils/math/accumulator.hpp"
 
@@ -23,7 +23,7 @@
 #include <variant>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 /**
  * @brief Enumeration of trajectory metrics
@@ -90,6 +90,6 @@ static struct CheckCorrectMaps
 } check;
 
 }  // namespace details
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_

evaluator/perception_online_evaluator/images/lateral_deviation.drawio.svg evaluator/autoware_perception_online_evaluator/images/lateral_deviation.drawio.svg

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
-
-#include "perception_online_evaluator/metrics/detection_count.hpp"
-#include "perception_online_evaluator/metrics/deviation_metrics.hpp"
-#include "perception_online_evaluator/metrics/metric.hpp"
-#include "perception_online_evaluator/parameters.hpp"
-#include "perception_online_evaluator/utils/objects_filtering.hpp"
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
+
+#include "autoware/perception_online_evaluator/metrics/detection_count.hpp"
+#include "autoware/perception_online_evaluator/metrics/deviation_metrics.hpp"
+#include "autoware/perception_online_evaluator/metrics/metric.hpp"
+#include "autoware/perception_online_evaluator/parameters.hpp"
+#include "autoware/perception_online_evaluator/utils/objects_filtering.hpp"
 #include "tf2_ros/buffer.h"
 
 #include <rclcpp/time.hpp>
@@ -38,7 +38,7 @@
 #include <utility>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -160,6 +160,6 @@ class MetricsCalculator
 
 };  // class MetricsCalculator
 
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_

evaluator/perception_online_evaluator/images/path_deviation.drawio.svg evaluator/autoware_perception_online_evaluator/images/path_deviation.drawio.svg

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
 
-#include "perception_online_evaluator/metrics/metric.hpp"
+#include "autoware/perception_online_evaluator/metrics/metric.hpp"
 
 #include <unordered_map>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 /**
  * @brief Enumeration of perception metrics
@@ -64,6 +64,6 @@ struct Parameters
   std::unordered_map<uint8_t, ObjectParameter> object_parameters;
 };
 
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_

evaluator/perception_online_evaluator/images/path_deviation_each_object.drawio.svg evaluator/autoware_perception_online_evaluator/images/path_deviation_each_object.drawio.svg

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
 
+#include "autoware/perception_online_evaluator/metrics_calculator.hpp"
+#include "autoware/perception_online_evaluator/parameters.hpp"
 #include "autoware/universe_utils/math/accumulator.hpp"
-#include "perception_online_evaluator/metrics_calculator.hpp"
-#include "perception_online_evaluator/parameters.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
@@ -34,7 +34,7 @@
 #include <string>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 using autoware::universe_utils::Accumulator;
 using autoware_perception_msgs::msg::ObjectClassification;
@@ -108,6 +108,6 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node
   // Debug
   void publishDebugMarker();
 };
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_

evaluator/perception_online_evaluator/images/yaw_deviation.drawio.svg evaluator/autoware_perception_online_evaluator/images/yaw_deviation.drawio.svg

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
 
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
 
@@ -27,7 +27,7 @@
 #include <string>
 #include <vector>
 
-namespace marker_utils
+namespace autoware::perception_diagnostics::marker_utils
 {
 
 using autoware::universe_utils::Polygon2d;
@@ -77,6 +77,6 @@ MarkerArray createDeviationLines(
   const std::vector<Pose> & poses1, const std::vector<Pose> & poses2, const std::string & ns,
   const int32_t & first_id, const float r, const float g, const float b);
 
-}  // namespace marker_utils
+}  // namespace autoware::perception_diagnostics::marker_utils
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_

evaluator/perception_online_evaluator/images/yaw_rate.drawio.svg evaluator/autoware_perception_online_evaluator/images/yaw_rate.drawio.svg

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
-#define PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
+#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
+#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
 
-#include "perception_online_evaluator/parameters.hpp"
+#include "autoware/perception_online_evaluator/parameters.hpp"
 
 #include <autoware_perception_msgs/msg/object_classification.hpp>
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
@@ -31,7 +31,7 @@
  *  most of this file is copied from objects_filtering.hpp in safety_check of behavior_path_planner
  */
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 
 using autoware_perception_msgs::msg::ObjectClassification;
@@ -170,6 +170,6 @@ PredictedObjects filterObjectsByVelocity(
 PredictedObjects filterObjectsByVelocity(
   const PredictedObjects & objects, double velocity_threshold, double max_velocity);
 
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics
 
-#endif  // PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
+#endif  // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_

evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/detection_count.hpp

@@ -3,8 +3,8 @@
 
   <!-- perception evaluator -->
   <group>
-    <node name="perception_online_evaluator" exec="perception_online_evaluator" pkg="perception_online_evaluator">
-      <param from="$(find-pkg-share perception_online_evaluator)/param/perception_online_evaluator.defaults.yaml"/>
+    <node pkg="autoware_perception_online_evaluator" exec="autoware_perception_online_evaluator_node">
+      <param from="$(find-pkg-share autoware_perception_online_evaluator)/param/perception_online_evaluator.defaults.yaml"/>
       <remap from="~/input/objects" to="$(var input/objects)"/>
       <remap from="~/metrics" to="/perception/perception_online_evaluator/metrics"/>
       <remap from="~/markers" to="/perception/perception_online_evaluator/markers"/>

evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/deviation_metrics.hpp

@@ -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>perception_online_evaluator</name>
+  <name>autoware_perception_online_evaluator</name>
   <version>0.40.0</version>
   <description>ROS 2 node for evaluating perception</description>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
@@ -10,6 +10,7 @@
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <author email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</author>

evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/metric.hpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "perception_online_evaluator/metrics/detection_count.hpp"
+#include "autoware/perception_online_evaluator/metrics/detection_count.hpp"
 
 #include "autoware/object_recognition_utils/object_recognition_utils.hpp"
+#include "autoware/perception_online_evaluator/utils/objects_filtering.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "perception_online_evaluator/utils/objects_filtering.hpp"
 
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
 
@@ -25,7 +25,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 namespace metrics
 {
@@ -236,4 +236,4 @@ void DetectionCounter::purgeOldRecords(rclcpp::Time current_time)
   }
 }
 }  // namespace metrics
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics

evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics_calculator.hpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "perception_online_evaluator/metrics/deviation_metrics.hpp"
+#include "autoware/perception_online_evaluator/metrics/deviation_metrics.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/universe_utils/geometry/pose_deviation.hpp"
@@ -21,7 +21,7 @@
 
 #include <vector>
 
-namespace perception_diagnostics
+namespace autoware::perception_diagnostics
 {
 namespace metrics
 {
@@ -50,4 +50,4 @@ double calcYawDeviation(const std::vector<Pose> & ref_path, const Pose & target_
 }
 
 }  // namespace metrics
-}  // namespace perception_diagnostics
+}  // namespace autoware::perception_diagnostics