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Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
1 parent 8940397 commit cd010a6

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‎common/autoware_object_recognition_utils/CMakeLists.txt

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cmake_minimum_required(VERSION 3.14)
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project(object_recognition_utils)
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project(autoware_object_recognition_utils)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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find_package(Boost REQUIRED)
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ament_auto_add_library(object_recognition_utils SHARED
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ament_auto_add_library(${PROJECT_NAME} SHARED
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src/predicted_path_utils.cpp
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src/conversion.cpp
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)

‎common/autoware_object_recognition_utils/README.md

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# object_recognition_utils
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# autoware_object_recognition_utils
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## Purpose
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‎common/autoware_object_recognition_utils/include/object_recognition_utils/conversion.hpp ‎common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/conversion.hpp

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#include <autoware_perception_msgs/msg/detected_objects.hpp>
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#include <autoware_perception_msgs/msg/tracked_objects.hpp>
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namespace object_recognition_utils
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namespace autoware::object_recognition_utils
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{
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using autoware_perception_msgs::msg::DetectedObject;
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using autoware_perception_msgs::msg::DetectedObjects;
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DetectedObject toDetectedObject(const TrackedObject & tracked_object);
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DetectedObjects toDetectedObjects(const TrackedObjects & tracked_objects);
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TrackedObject toTrackedObject(const DetectedObject & detected_object);
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} // namespace object_recognition_utils
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} // namespace autoware::object_recognition_utils
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#endif // OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_

‎common/autoware_object_recognition_utils/include/object_recognition_utils/geometry.hpp ‎common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/geometry.hpp

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#include <autoware_perception_msgs/msg/tracked_object.hpp>
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#include <geometry_msgs/msg/pose.hpp>
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namespace object_recognition_utils
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namespace autoware::object_recognition_utils
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{
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template <class T>
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geometry_msgs::msg::Pose getPose([[maybe_unused]] const T & p)
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{
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return obj.kinematics.initial_pose_with_covariance.pose;
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}
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} // namespace object_recognition_utils
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} // namespace autoware::object_recognition_utils
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#endif // OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_

‎common/autoware_object_recognition_utils/include/object_recognition_utils/matching.hpp ‎common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/matching.hpp

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#include "autoware/universe_utils/geometry/boost_geometry.hpp"
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#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
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#include "object_recognition_utils/geometry.hpp"
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#include "autoware/object_recognition_utils/geometry.hpp"
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#include <boost/geometry.hpp>
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#include <utility>
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#include <vector>
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namespace object_recognition_utils
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namespace autoware::object_recognition_utils
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{
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using autoware::universe_utils::Polygon2d;
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// minimum area to avoid division by zero
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return std::min(1.0, intersection_area / target_area);
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}
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} // namespace object_recognition_utils
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} // namespace autoware::object_recognition_utils
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#endif // OBJECT_RECOGNITION_UTILS__MATCHING_HPP_

‎common/autoware_object_recognition_utils/include/object_recognition_utils/object_classification.hpp ‎common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_classification.hpp

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#include <string>
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#include <vector>
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namespace object_recognition_utils
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namespace autoware::object_recognition_utils
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{
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using autoware_perception_msgs::msg::ObjectClassification;
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return convertLabelToString(highest_prob_label);
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}
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} // namespace object_recognition_utils
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} // namespace autoware::object_recognition_utils
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#endif // OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_

‎common/autoware_object_recognition_utils/include/object_recognition_utils/object_recognition_utils.hpp ‎common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_recognition_utils.hpp

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#ifndef OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_
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#define OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_
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#include "object_recognition_utils/conversion.hpp"
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#include "object_recognition_utils/geometry.hpp"
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#include "object_recognition_utils/matching.hpp"
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#include "object_recognition_utils/object_classification.hpp"
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#include "object_recognition_utils/predicted_path_utils.hpp"
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#include "object_recognition_utils/transform.hpp"
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#include "autoware/object_recognition_utils/conversion.hpp"
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#include "autoware/object_recognition_utils/geometry.hpp"
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#include "autoware/object_recognition_utils/matching.hpp"
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#include "autoware/object_recognition_utils/object_classification.hpp"
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#include "autoware/object_recognition_utils/predicted_path_utils.hpp"
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#include "autoware/object_recognition_utils/transform.hpp"
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#endif // OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_

‎common/autoware_object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp ‎common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/predicted_path_utils.hpp

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#include <vector>
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namespace object_recognition_utils
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namespace autoware::object_recognition_utils
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{
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/**
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* @brief Calculate Interpolated Pose from predicted path by time
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const autoware_perception_msgs::msg::PredictedPath & path, const double sampling_time_interval,
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const double sampling_horizon, const bool use_spline_for_xy = true,
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const bool use_spline_for_z = false);
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} // namespace object_recognition_utils
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} // namespace autoware::object_recognition_utils
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#endif // OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_

‎common/autoware_object_recognition_utils/include/object_recognition_utils/transform.hpp ‎common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/transform.hpp

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}
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} // namespace detail
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namespace object_recognition_utils
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namespace autoware::object_recognition_utils
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{
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template <class T>
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bool transformObjects(
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}
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return true;
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}
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} // namespace object_recognition_utils
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} // namespace autoware::object_recognition_utils
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#endif // OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_

‎common/autoware_object_recognition_utils/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>object_recognition_utils</name>
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<name>autoware_object_recognition_utils</name>
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<version>0.1.0</version>
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<description>The object_recognition_utils package</description>
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<description>The autoware_object_recognition_utils package</description>
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<maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
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<maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
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<maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>

‎common/autoware_object_recognition_utils/src/conversion.cpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "object_recognition_utils/conversion.hpp"
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#include "autoware/object_recognition_utils/conversion.hpp"
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namespace object_recognition_utils
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namespace autoware::object_recognition_utils
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{
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using autoware_perception_msgs::msg::DetectedObject;
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using autoware_perception_msgs::msg::DetectedObjects;
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tracked_object.shape = detected_object.shape;
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return tracked_object;
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}
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} // namespace object_recognition_utils
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} // namespace autoware::object_recognition_utils

‎common/autoware_object_recognition_utils/src/predicted_path_utils.cpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "object_recognition_utils/predicted_path_utils.hpp"
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#include "autoware/object_recognition_utils/predicted_path_utils.hpp"
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#include "autoware/interpolation/linear_interpolation.hpp"
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#include "autoware/interpolation/spherical_linear_interpolation.hpp"
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#include "autoware/interpolation/spline_interpolation.hpp"
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#include <algorithm>
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namespace object_recognition_utils
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namespace autoware::object_recognition_utils
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{
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boost::optional<geometry_msgs::msg::Pose> calcInterpolatedPose(
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const autoware_perception_msgs::msg::PredictedPath & path, const double relative_time)
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resampled_path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval);
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return resampled_path;
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}
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} // namespace object_recognition_utils
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} // namespace autoware::object_recognition_utils

‎common/autoware_object_recognition_utils/test/src/test_conversion.cpp

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// limitations under the License.
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#include "autoware/universe_utils/geometry/geometry.hpp"
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#include "object_recognition_utils/conversion.hpp"
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#include "autoware/object_recognition_utils/conversion.hpp"
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#include <gtest/gtest.h>
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‎common/autoware_object_recognition_utils/test/src/test_geometry.cpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "object_recognition_utils/geometry.hpp"
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#include "autoware/object_recognition_utils/geometry.hpp"
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#include <gtest/gtest.h>
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‎common/autoware_object_recognition_utils/test/src/test_matching.cpp

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// limitations under the License.
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#include "autoware/universe_utils/geometry/geometry.hpp"
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#include "object_recognition_utils/matching.hpp"
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#include "autoware/object_recognition_utils/matching.hpp"
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#include <autoware_perception_msgs/msg/detected_object.hpp>
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‎common/autoware_object_recognition_utils/test/src/test_object_classification.cpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "object_recognition_utils/object_classification.hpp"
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#include "autoware/object_recognition_utils/object_classification.hpp"
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#include <gtest/gtest.h>
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‎common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp

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#include "autoware/universe_utils/geometry/geometry.hpp"
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#include "autoware/universe_utils/math/unit_conversion.hpp"
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#include "object_recognition_utils/predicted_path_utils.hpp"
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#include "autoware/object_recognition_utils/predicted_path_utils.hpp"
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#include <gtest/gtest.h>
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