style(pre-commit): autofix

Author: pre-commit-ci[bot]

common/autoware_object_recognition_utils/test/src/test_conversion.cpp

@@ -42,8 +42,8 @@ autoware_perception_msgs::msg::ObjectClassification createObjectClassification(
 // NOTE: covariance is not checked
 TEST(conversion, test_toDetectedObject)
 {
-  using autoware_perception_msgs::msg::ObjectClassification;
   using autoware::object_recognition_utils::toDetectedObject;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   autoware_perception_msgs::msg::TrackedObject tracked_obj;
   // existence probability
@@ -160,8 +160,8 @@ TEST(conversion, test_toDetectedObject)
 // NOTE: covariance is not checked
 TEST(conversion, test_toTrackedObject)
 {
-  using autoware_perception_msgs::msg::ObjectClassification;
   using autoware::object_recognition_utils::toTrackedObject;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   autoware_perception_msgs::msg::DetectedObject detected_obj;
   // existence probability

common/autoware_object_recognition_utils/test/src/test_matching.cpp

@@ -37,8 +37,8 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double
 
 TEST(matching, test_get2dIoU)
 {
-  using autoware_perception_msgs::msg::DetectedObject;
   using autoware::object_recognition_utils::get2dIoU;
+  using autoware_perception_msgs::msg::DetectedObject;
 
   const double quart_circle = 0.16237976320958225;
 
@@ -153,8 +153,8 @@ TEST(object_recognition_utils, test_get2dGeneralizedIoU)
 
 TEST(matching, test_get2dPrecision)
 {
-  using autoware_perception_msgs::msg::DetectedObject;
   using autoware::object_recognition_utils::get2dPrecision;
+  using autoware_perception_msgs::msg::DetectedObject;
   const double quart_circle = 0.16237976320958225;
 
   {  // non overlapped
@@ -220,8 +220,8 @@ TEST(matching, test_get2dPrecision)
 
 TEST(matching, test_get2dRecall)
 {
-  using autoware_perception_msgs::msg::DetectedObject;
   using autoware::object_recognition_utils::get2dRecall;
+  using autoware_perception_msgs::msg::DetectedObject;
   const double quart_circle = 0.16237976320958225;
 
   {  // non overlapped

common/autoware_object_recognition_utils/test/src/test_object_classification.cpp

@@ -34,8 +34,8 @@ autoware_perception_msgs::msg::ObjectClassification createObjectClassification(
 
 TEST(object_classification, test_getHighestProbLabel)
 {
-  using autoware_perception_msgs::msg::ObjectClassification;
   using autoware::object_recognition_utils::getHighestProbLabel;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   {  // empty
     std::vector<autoware_perception_msgs::msg::ObjectClassification> classifications;
@@ -67,8 +67,8 @@ TEST(object_classification, test_getHighestProbLabel)
 // Test isVehicle
 TEST(object_classification, test_isVehicle)
 {
-  using autoware_perception_msgs::msg::ObjectClassification;
   using autoware::object_recognition_utils::isVehicle;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   {  // True Case with uint8_t
     EXPECT_TRUE(isVehicle(ObjectClassification::BICYCLE));
@@ -106,8 +106,8 @@ TEST(object_classification, test_isVehicle)
 // TEST isCarLikeVehicle
 TEST(object_classification, test_isCarLikeVehicle)
 {
-  using autoware_perception_msgs::msg::ObjectClassification;
   using autoware::object_recognition_utils::isCarLikeVehicle;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   {  // True Case with uint8_t
     EXPECT_TRUE(isCarLikeVehicle(ObjectClassification::BUS));
@@ -157,8 +157,8 @@ TEST(object_classification, test_isCarLikeVehicle)
 // TEST isLargeVehicle
 TEST(object_classification, test_isLargeVehicle)
 {
-  using autoware_perception_msgs::msg::ObjectClassification;
   using autoware::object_recognition_utils::isLargeVehicle;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   {  // True Case with uint8_t
     EXPECT_TRUE(isLargeVehicle(ObjectClassification::BUS));
@@ -197,8 +197,8 @@ TEST(object_classification, test_isLargeVehicle)
 
 TEST(object_classification, test_getHighestProbClassification)
 {
-  using autoware_perception_msgs::msg::ObjectClassification;
   using autoware::object_recognition_utils::getHighestProbClassification;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   {  // empty
     std::vector<autoware_perception_msgs::msg::ObjectClassification> classifications;
@@ -232,10 +232,10 @@ TEST(object_classification, test_getHighestProbClassification)
 
 TEST(object_classification, test_fromString)
 {
-  using autoware_perception_msgs::msg::ObjectClassification;
   using autoware::object_recognition_utils::toLabel;
   using autoware::object_recognition_utils::toObjectClassification;
   using autoware::object_recognition_utils::toObjectClassifications;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   // toLabel
   {
@@ -266,8 +266,8 @@ TEST(object_classification, test_fromString)
 
 TEST(object_classification, test_convertLabelToString)
 {
-  using autoware_perception_msgs::msg::ObjectClassification;
   using autoware::object_recognition_utils::convertLabelToString;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   // from label
   {

common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp

@@ -62,10 +62,10 @@ PredictedPath createTestPredictedPath(
 
 TEST(predicted_path_utils, testCalcInterpolatedPose)
 {
+  using autoware::object_recognition_utils::calcInterpolatedPose;
   using autoware::universe_utils::createQuaternionFromRPY;
   using autoware::universe_utils::createQuaternionFromYaw;
   using autoware::universe_utils::deg2rad;
-  using autoware::object_recognition_utils::calcInterpolatedPose;
 
   const auto path = createTestPredictedPath(100, 0.1, 1.0);
 
@@ -128,10 +128,10 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
 
 TEST(predicted_path_utils, resamplePredictedPath_by_vector)
 {
+  using autoware::object_recognition_utils::resamplePredictedPath;
   using autoware::universe_utils::createQuaternionFromRPY;
   using autoware::universe_utils::createQuaternionFromYaw;
   using autoware::universe_utils::deg2rad;
-  using autoware::object_recognition_utils::resamplePredictedPath;
 
   const auto path = createTestPredictedPath(10, 1.0, 1.0);
 
@@ -205,10 +205,10 @@ TEST(predicted_path_utils, resamplePredictedPath_by_vector)
 
 TEST(predicted_path_utils, resamplePredictedPath_by_sampling_time)
 {
+  using autoware::object_recognition_utils::resamplePredictedPath;
   using autoware::universe_utils::createQuaternionFromRPY;
   using autoware::universe_utils::createQuaternionFromYaw;
   using autoware::universe_utils::deg2rad;
-  using autoware::object_recognition_utils::resamplePredictedPath;
 
   const auto path = createTestPredictedPath(10, 1.0, 1.0);
 

evaluator/perception_online_evaluator/package.xml

@@ -19,6 +19,7 @@
 
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
+  <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
@@ -27,7 +28,6 @@
   <depend>geometry_msgs</depend>
   <depend>glog</depend>
   <depend>nav_msgs</depend>
-  <depend>autoware_object_recognition_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

evaluator/perception_online_evaluator/src/metrics/detection_count.cpp

@@ -14,8 +14,8 @@
 
 #include "perception_online_evaluator/metrics/detection_count.hpp"
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/object_recognition_utils/object_recognition_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "perception_online_evaluator/utils/objects_filtering.hpp"
 
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
@@ -72,7 +72,8 @@ void DetectionCounter::addObjects(
 
   for (const auto & object : objects.objects) {
     const auto uuid = toHexString(object.object_id);
-    const auto label = autoware::object_recognition_utils::getHighestProbLabel(object.classification);
+    const auto label =
+      autoware::object_recognition_utils::getHighestProbLabel(object.classification);
     if (!isCountObject(label, parameters_->object_parameters)) {
       continue;
     }

evaluator/perception_online_evaluator/src/metrics_calculator.cpp

@@ -15,16 +15,16 @@
 #include "perception_online_evaluator/metrics_calculator.hpp"
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/object_recognition_utils/object_classification.hpp"
 #include "autoware/object_recognition_utils/object_recognition_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 namespace perception_diagnostics
 {
-using autoware::universe_utils::inverseTransformPoint;
 using autoware::object_recognition_utils::convertLabelToString;
+using autoware::universe_utils::inverseTransformPoint;
 
 std::optional<MetricsMap> MetricsCalculator::calculate(const Metric & metric) const
 {

perception/autoware_cluster_merger/package.xml

@@ -12,11 +12,11 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_test_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>message_filters</depend>
-  <depend>autoware_object_recognition_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tier4_perception_msgs</depend>

perception/autoware_detected_object_validation/package.xml

@@ -19,12 +19,12 @@
 
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_test_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>message_filters</depend>
   <depend>nav_msgs</depend>
-  <depend>autoware_object_recognition_utils</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp

@@ -14,11 +14,11 @@
 
 #include "lanelet_filter.hpp"
 
+#include "autoware/object_recognition_utils/object_recognition_utils.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/universe_utils/system/time_keeper.hpp"
 #include "autoware_lanelet2_extension/utility/message_conversion.hpp"
 #include "autoware_lanelet2_extension/utility/query.hpp"
-#include "autoware/object_recognition_utils/object_recognition_utils.hpp"
 
 #include <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/algorithms/disjoint.hpp>

perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp

@@ -16,8 +16,8 @@
 
 #include "obstacle_pointcloud_validator.hpp"
 
-#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <autoware/object_recognition_utils/object_recognition_utils.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 
 #include <boost/geometry.hpp>
 

perception/autoware_detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp

@@ -16,9 +16,9 @@
 
 #include "occupancy_grid_map_validator.hpp"
 
-#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "autoware/object_recognition_utils/object_classification.hpp"
 #include "autoware/object_recognition_utils/object_recognition_utils.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 
 #include <boost/optional.hpp>
 

perception/autoware_detection_by_tracker/package.xml

@@ -14,10 +14,10 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_euclidean_cluster</depend>
+  <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_shape_estimation</depend>
   <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
-  <depend>autoware_object_recognition_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>

perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp

@@ -16,9 +16,9 @@
 
 #include "detection_by_tracker_node.hpp"
 
+#include "autoware/object_recognition_utils/object_recognition_utils.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
-#include "autoware/object_recognition_utils/object_recognition_utils.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -370,8 +370,8 @@ void DetectionByTracker::mergeOverSegmentedObjects(
       }
 
       // If there is an initial object in the tracker, it will be merged.
-      const float precision =
-        autoware::object_recognition_utils::get2dPrecision(initial_object.object, extended_tracked_object);
+      const float precision = autoware::object_recognition_utils::get2dPrecision(
+        initial_object.object, extended_tracked_object);
       if (precision < precision_threshold) {
         continue;
       }

perception/autoware_image_projection_based_fusion/package.xml

@@ -18,14 +18,14 @@
 
   <depend>autoware_euclidean_cluster</depend>
   <depend>autoware_lidar_centerpoint</depend>
+  <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_point_types</depend>
   <depend>autoware_universe_utils</depend>
   <depend>cv_bridge</depend>
   <depend>image_geometry</depend>
   <depend>image_transport</depend>
   <depend>message_filters</depend>
-  <depend>autoware_object_recognition_utils</depend>
   <depend>perception_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp

@@ -50,7 +50,8 @@ void RoiDetectedObjectFusionNode::preprocess(DetectedObjects & output_msg)
   ignored_object_flags.resize(output_msg.objects.size());
   for (std::size_t obj_i = 0; obj_i < output_msg.objects.size(); ++obj_i) {
     const auto & object = output_msg.objects.at(obj_i);
-    const auto label = autoware::object_recognition_utils::getHighestProbLabel(object.classification);
+    const auto label =
+      autoware::object_recognition_utils::getHighestProbLabel(object.classification);
     const auto pos = autoware::object_recognition_utils::getPose(object).position;
     const auto object_sqr_dist = pos.x * pos.x + pos.y * pos.y;
     const auto prob_threshold =

perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp

@@ -14,9 +14,9 @@
 
 #include "autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp"
 
-#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/object_recognition_utils/geometry.hpp>
 #include <autoware/object_recognition_utils/object_recognition_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 namespace autoware::lidar_centerpoint
 {
@@ -41,16 +41,19 @@ bool NonMaximumSuppression::isTargetLabel(const uint8_t label)
 bool NonMaximumSuppression::isTargetPairObject(
   const DetectedObject & object1, const DetectedObject & object2)
 {
-  const auto label1 = autoware::object_recognition_utils::getHighestProbLabel(object1.classification);
-  const auto label2 = autoware::object_recognition_utils::getHighestProbLabel(object2.classification);
+  const auto label1 =
+    autoware::object_recognition_utils::getHighestProbLabel(object1.classification);
+  const auto label2 =
+    autoware::object_recognition_utils::getHighestProbLabel(object2.classification);
 
   if (isTargetLabel(label1) && isTargetLabel(label2)) {
     return true;
   }
 
   const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_;
   const auto sqr_dist_2d = autoware::universe_utils::calcSquaredDistance2d(
-    autoware::object_recognition_utils::getPose(object1), autoware::object_recognition_utils::getPose(object2));
+    autoware::object_recognition_utils::getPose(object1),
+    autoware::object_recognition_utils::getPose(object2));
   return sqr_dist_2d <= search_sqr_dist_2d;
 }
 

perception/autoware_lidar_centerpoint/lib/ros_utils.cpp

@@ -14,9 +14,9 @@
 
 #include "autoware/lidar_centerpoint/ros_utils.hpp"
 
+#include "autoware/object_recognition_utils/object_recognition_utils.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/universe_utils/math/constants.hpp"
-#include "autoware/object_recognition_utils/object_recognition_utils.hpp"
 
 namespace autoware::lidar_centerpoint
 {

perception/autoware_lidar_centerpoint/package.xml

@@ -12,9 +12,9 @@
   <buildtool_depend>ament_cmake_python</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>autoware_object_recognition_utils</depend>
   <depend>pcl_ros</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>