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refactor(cuda_utils): prefix package and namespace with autoware
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
1 parent e1bc982 commit 6aa59a3

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24 files changed

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-109
lines changed

24 files changed

+117
-109
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‎.github/CODEOWNERS

+1-1
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@@ -198,6 +198,7 @@ planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.
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planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp
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planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp
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planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp
201+
sensing/autoware_cuda_utils/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp
201202
sensing/autoware_gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
202203
sensing/autoware_image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp
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sensing/autoware_image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp
@@ -208,7 +209,6 @@ sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.m
208209
sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
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sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
210211
sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
211-
sensing/cuda_utils/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp
212212
sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
213213
sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp
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simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com

‎perception/autoware_bytetrack/package.xml

+1-1
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@@ -15,10 +15,10 @@
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<buildtool_export_depend>cudnn_cmake_module</buildtool_export_depend>
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<buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
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18+
<depend>autoware_cuda_utils</depend>
1819
<depend>autoware_kalman_filter</depend>
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<depend>autoware_perception_msgs</depend>
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<depend>autoware_tensorrt_common</depend>
21-
<depend>cuda_utils</depend>
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<depend>cv_bridge</depend>
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<depend>eigen</depend>
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<depend>image_transport</depend>

‎perception/autoware_lidar_apollo_instance_segmentation/include/autoware/lidar_apollo_instance_segmentation/detector.hpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -19,10 +19,10 @@
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#include "autoware/lidar_apollo_instance_segmentation/feature_generator.hpp"
2020
#include "autoware/lidar_apollo_instance_segmentation/node.hpp"
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22+
#include <autoware/cuda_utils/cuda_unique_ptr.hpp>
23+
#include <autoware/cuda_utils/stream_unique_ptr.hpp>
2224
#include <autoware/tensorrt_common/tensorrt_common.hpp>
2325
#include <autoware/universe_utils/transform/transforms.hpp>
24-
#include <cuda_utils/cuda_unique_ptr.hpp>
25-
#include <cuda_utils/stream_unique_ptr.hpp>
2626
#include <tf2_eigen/tf2_eigen.hpp>
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#include <tf2_ros/buffer_interface.h>
@@ -35,10 +35,10 @@ namespace autoware
3535
{
3636
namespace lidar_apollo_instance_segmentation
3737
{
38-
using cuda_utils::CudaUniquePtr;
39-
using cuda_utils::CudaUniquePtrHost;
40-
using cuda_utils::makeCudaStream;
41-
using cuda_utils::StreamUniquePtr;
38+
using autoware::cuda_utils::CudaUniquePtr;
39+
using autoware::cuda_utils::CudaUniquePtrHost;
40+
using autoware::cuda_utils::makeCudaStream;
41+
using autoware::cuda_utils::StreamUniquePtr;
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4343
class LidarApolloInstanceSegmentation : public LidarInstanceSegmentationInterface
4444
{

‎perception/autoware_lidar_apollo_instance_segmentation/package.xml

+1-1
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@@ -13,10 +13,10 @@
1313

1414
<buildtool_depend>ament_cmake</buildtool_depend>
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16+
<depend>autoware_cuda_utils</depend>
1617
<depend>autoware_perception_msgs</depend>
1718
<depend>autoware_tensorrt_common</depend>
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<depend>autoware_universe_utils</depend>
19-
<depend>cuda_utils</depend>
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<depend>libpcl-all-dev</depend>
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<depend>pcl_conversions</depend>
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<depend>rclcpp</depend>

‎perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -65,12 +65,12 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
6565
const auto input_dims = trt_common_->getBindingDimensions(0);
6666
const auto input_size =
6767
std::accumulate(input_dims.d + 1, input_dims.d + input_dims.nbDims, 1, std::multiplies<int>());
68-
input_d_ = cuda_utils::make_unique<float[]>(input_size);
68+
input_d_ = autoware::cuda_utils::make_unique<float[]>(input_size);
6969
const auto output_dims = trt_common_->getBindingDimensions(1);
7070
output_size_ = std::accumulate(
7171
output_dims.d + 1, output_dims.d + output_dims.nbDims, 1, std::multiplies<int>());
72-
output_d_ = cuda_utils::make_unique<float[]>(output_size_);
73-
output_h_ = cuda_utils::make_unique_host<float[]>(output_size_, cudaHostAllocPortable);
72+
output_d_ = autoware::cuda_utils::make_unique<float[]>(output_size_);
73+
output_h_ = autoware::cuda_utils::make_unique_host<float[]>(output_size_, cudaHostAllocPortable);
7474

7575
// feature map generator: pre process
7676
feature_generator_ = std::make_shared<FeatureGenerator>(

‎perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp

+7-7
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@@ -15,10 +15,10 @@
1515
#ifndef AUTOWARE__SHAPE_ESTIMATION__TENSORRT_SHAPE_ESTIMATOR_HPP_
1616
#define AUTOWARE__SHAPE_ESTIMATION__TENSORRT_SHAPE_ESTIMATOR_HPP_
1717

18+
#include <autoware/cuda_utils/cuda_check_error.hpp>
19+
#include <autoware/cuda_utils/cuda_unique_ptr.hpp>
20+
#include <autoware/cuda_utils/stream_unique_ptr.hpp>
1821
#include <autoware/tensorrt_common/tensorrt_common.hpp>
19-
#include <cuda_utils/cuda_check_error.hpp>
20-
#include <cuda_utils/cuda_unique_ptr.hpp>
21-
#include <cuda_utils/stream_unique_ptr.hpp>
2222
#include <pcl_ros/transforms.hpp>
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2424
#include <autoware_perception_msgs/msg/detected_objects.hpp>
@@ -34,10 +34,10 @@
3434

3535
namespace autoware::shape_estimation
3636
{
37-
using cuda_utils::CudaUniquePtr;
38-
using cuda_utils::CudaUniquePtrHost;
39-
using cuda_utils::makeCudaStream;
40-
using cuda_utils::StreamUniquePtr;
37+
using autoware::cuda_utils::CudaUniquePtr;
38+
using autoware::cuda_utils::CudaUniquePtrHost;
39+
using autoware::cuda_utils::makeCudaStream;
40+
using autoware::cuda_utils::StreamUniquePtr;
4141

4242
using autoware_perception_msgs::msg::DetectedObject;
4343
using autoware_perception_msgs::msg::DetectedObjects;

‎perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp

+7-6
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@@ -41,32 +41,33 @@ TrtShapeEstimator::TrtShapeEstimator(
4141
const auto pc_input_dims = trt_common_->getBindingDimensions(0);
4242
const auto pc_input_size = std::accumulate(
4343
pc_input_dims.d + 1, pc_input_dims.d + pc_input_dims.nbDims, 1, std::multiplies<int>());
44-
input_pc_d_ = cuda_utils::make_unique<float[]>(pc_input_size * batch_config[2]);
44+
input_pc_d_ = autoware::cuda_utils::make_unique<float[]>(pc_input_size * batch_config[2]);
4545
batch_size_ = batch_config[2];
4646
const auto one_hot_input_dims = trt_common_->getBindingDimensions(1);
4747
const auto one_hot_input_size = std::accumulate(
4848
one_hot_input_dims.d + 1, one_hot_input_dims.d + one_hot_input_dims.nbDims, 1,
4949
std::multiplies<int>());
50-
input_one_hot_d_ = cuda_utils::make_unique<float[]>(one_hot_input_size * batch_config[2]);
50+
input_one_hot_d_ =
51+
autoware::cuda_utils::make_unique<float[]>(one_hot_input_size * batch_config[2]);
5152

5253
const auto stage1_center_out_dims = trt_common_->getBindingDimensions(2);
5354
out_s1center_elem_num_ = std::accumulate(
5455
stage1_center_out_dims.d + 1, stage1_center_out_dims.d + stage1_center_out_dims.nbDims, 1,
5556
std::multiplies<int>());
5657
out_s1center_elem_num_ = out_s1center_elem_num_ * batch_config[2];
5758
out_s1center_elem_num_per_batch_ = static_cast<size_t>(out_s1center_elem_num_ / batch_config[2]);
58-
out_s1center_prob_d_ = cuda_utils::make_unique<float[]>(out_s1center_elem_num_);
59+
out_s1center_prob_d_ = autoware::cuda_utils::make_unique<float[]>(out_s1center_elem_num_);
5960
out_s1center_prob_h_ =
60-
cuda_utils::make_unique_host<float[]>(out_s1center_elem_num_, cudaHostAllocPortable);
61+
autoware::cuda_utils::make_unique_host<float[]>(out_s1center_elem_num_, cudaHostAllocPortable);
6162

6263
const auto pred_out_dims = trt_common_->getBindingDimensions(3);
6364
out_pred_elem_num_ = std::accumulate(
6465
pred_out_dims.d + 1, pred_out_dims.d + pred_out_dims.nbDims, 1, std::multiplies<int>());
6566
out_pred_elem_num_ = out_pred_elem_num_ * batch_config[2];
6667
out_pred_elem_num_per_batch_ = static_cast<size_t>(out_pred_elem_num_ / batch_config[2]);
67-
out_pred_prob_d_ = cuda_utils::make_unique<float[]>(out_pred_elem_num_);
68+
out_pred_prob_d_ = autoware::cuda_utils::make_unique<float[]>(out_pred_elem_num_);
6869
out_pred_prob_h_ =
69-
cuda_utils::make_unique_host<float[]>(out_pred_elem_num_, cudaHostAllocPortable);
70+
autoware::cuda_utils::make_unique_host<float[]>(out_pred_elem_num_, cudaHostAllocPortable);
7071

7172
g_type_mean_size_ = {{4.6344314, 1.9600292, 1.7375569}, {6.936331, 2.5178623, 2.8506238},
7273
{11.194943, 2.9501154, 3.4918275}, {12.275775, 2.9231303, 3.87086},

‎perception/autoware_shape_estimation/package.xml

+1-1
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@@ -17,10 +17,10 @@
1717
<buildtool_export_depend>cudnn_cmake_module</buildtool_export_depend>
1818
<buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
1919

20+
<depend>autoware_cuda_utils</depend>
2021
<depend>autoware_perception_msgs</depend>
2122
<depend>autoware_tensorrt_common</depend>
2223
<depend>autoware_universe_utils</depend>
23-
<depend>cuda_utils</depend>
2424
<depend>eigen</depend>
2525
<depend>libopencv-dev</depend>
2626
<depend>libpcl-all-dev</depend>

‎perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp

+2-2
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@@ -36,8 +36,8 @@
3636

3737
#ifndef AUTOWARE__TENSORRT_CLASSIFIER__CALIBRATOR_HPP_
3838
#define AUTOWARE__TENSORRT_CLASSIFIER__CALIBRATOR_HPP_
39-
#include "cuda_utils/cuda_check_error.hpp"
40-
#include "cuda_utils/cuda_unique_ptr.hpp"
39+
#include "autoware/cuda_utils/cuda_check_error.hpp"
40+
#include "autoware/cuda_utils/cuda_unique_ptr.hpp"
4141

4242
#include <opencv2/core/core.hpp>
4343
#include <opencv2/highgui/highgui.hpp>

‎perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp

+7-7
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@@ -15,10 +15,10 @@
1515
#ifndef AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_
1616
#define AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_
1717

18+
#include <autoware/cuda_utils/cuda_check_error.hpp>
19+
#include <autoware/cuda_utils/cuda_unique_ptr.hpp>
20+
#include <autoware/cuda_utils/stream_unique_ptr.hpp>
1821
#include <autoware/tensorrt_common/tensorrt_common.hpp>
19-
#include <cuda_utils/cuda_check_error.hpp>
20-
#include <cuda_utils/cuda_unique_ptr.hpp>
21-
#include <cuda_utils/stream_unique_ptr.hpp>
2222
#include <opencv2/opencv.hpp>
2323

2424
#include <memory>
@@ -27,10 +27,10 @@
2727

2828
namespace autoware::tensorrt_classifier
2929
{
30-
using cuda_utils::CudaUniquePtr;
31-
using cuda_utils::CudaUniquePtrHost;
32-
using cuda_utils::makeCudaStream;
33-
using cuda_utils::StreamUniquePtr;
30+
using autoware::cuda_utils::CudaUniquePtr;
31+
using autoware::cuda_utils::CudaUniquePtrHost;
32+
using autoware::cuda_utils::makeCudaStream;
33+
using autoware::cuda_utils::StreamUniquePtr;
3434

3535
/**
3636
* @class TrtClassifier

‎perception/autoware_tensorrt_classifier/package.xml

+1-1
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@@ -19,8 +19,8 @@
1919

2020
<build_depend>autoware_cmake</build_depend>
2121

22+
<depend>autoware_cuda_utils</depend>
2223
<depend>autoware_tensorrt_common</depend>
23-
<depend>cuda_utils</depend>
2424
<depend>libopencv-dev</depend>
2525
<depend>rclcpp</depend>
2626

‎perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp

+4-3
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@@ -170,13 +170,14 @@ TrtClassifier::TrtClassifier(
170170
std::accumulate(input_dims.d + 1, input_dims.d + input_dims.nbDims, 1, std::multiplies<int>());
171171

172172
const auto output_dims = trt_common_->getBindingDimensions(1);
173-
input_d_ = cuda_utils::make_unique<float[]>(batch_config[2] * input_size);
173+
input_d_ = autoware::cuda_utils::make_unique<float[]>(batch_config[2] * input_size);
174174
out_elem_num_ = std::accumulate(
175175
output_dims.d + 1, output_dims.d + output_dims.nbDims, 1, std::multiplies<int>());
176176
out_elem_num_ = out_elem_num_ * batch_config[2];
177177
out_elem_num_per_batch_ = static_cast<int>(out_elem_num_ / batch_config[2]);
178-
out_prob_d_ = cuda_utils::make_unique<float[]>(out_elem_num_);
179-
out_prob_h_ = cuda_utils::make_unique_host<float[]>(out_elem_num_, cudaHostAllocPortable);
178+
out_prob_d_ = autoware::cuda_utils::make_unique<float[]>(out_elem_num_);
179+
out_prob_h_ =
180+
autoware::cuda_utils::make_unique_host<float[]>(out_elem_num_, cudaHostAllocPortable);
180181

181182
if (cuda) {
182183
m_cuda = true;

‎perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp

+2-2
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@@ -37,8 +37,8 @@
3737
#ifndef AUTOWARE__TENSORRT_YOLOX__CALIBRATOR_HPP_
3838
#define AUTOWARE__TENSORRT_YOLOX__CALIBRATOR_HPP_
3939

40-
#include "cuda_utils/cuda_check_error.hpp"
41-
#include "cuda_utils/cuda_unique_ptr.hpp"
40+
#include "autoware/cuda_utils/cuda_check_error.hpp"
41+
#include "autoware/cuda_utils/cuda_unique_ptr.hpp"
4242

4343
#include <opencv2/core/core.hpp>
4444
#include <opencv2/highgui/highgui.hpp>

‎perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp

+6-6
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@@ -15,10 +15,10 @@
1515
#ifndef AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
1616
#define AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
1717

18+
#include <autoware/cuda_utils/cuda_unique_ptr.hpp>
19+
#include <autoware/cuda_utils/stream_unique_ptr.hpp>
1820
#include <autoware/tensorrt_common/tensorrt_common.hpp>
1921
#include <autoware/tensorrt_yolox/preprocess.hpp>
20-
#include <cuda_utils/cuda_unique_ptr.hpp>
21-
#include <cuda_utils/stream_unique_ptr.hpp>
2222
#include <opencv2/opencv.hpp>
2323

2424
#include <memory>
@@ -27,10 +27,10 @@
2727

2828
namespace autoware::tensorrt_yolox
2929
{
30-
using cuda_utils::CudaUniquePtr;
31-
using cuda_utils::CudaUniquePtrHost;
32-
using cuda_utils::makeCudaStream;
33-
using cuda_utils::StreamUniquePtr;
30+
using autoware::cuda_utils::CudaUniquePtr;
31+
using autoware::cuda_utils::CudaUniquePtrHost;
32+
using autoware::cuda_utils::makeCudaStream;
33+
using autoware::cuda_utils::StreamUniquePtr;
3434

3535
struct Object
3636
{

‎perception/autoware_tensorrt_yolox/package.xml

+1-1
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@@ -19,10 +19,10 @@
1919
<buildtool_export_depend>cudnn_cmake_module</buildtool_export_depend>
2020
<buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
2121

22+
<depend>autoware_cuda_utils</depend>
2223
<depend>autoware_object_recognition_utils</depend>
2324
<depend>autoware_perception_msgs</depend>
2425
<depend>autoware_tensorrt_common</depend>
25-
<depend>cuda_utils</depend>
2626
<depend>cv_bridge</depend>
2727
<depend>image_transport</depend>
2828
<depend>libopencv-dev</depend>

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