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Merge pull request #1116 from tier4/sync-upstream
chore: sync upstream
2 parents 6f0fd05 + acf3357 commit 21d1a1f

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‎.github/CODEOWNERS

+42-40
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‎common/autoware_ad_api_specs/package.xml

-2
Original file line numberDiff line numberDiff line change
@@ -5,8 +5,6 @@
55
<version>0.0.0</version>
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<description>The autoware_ad_api_specs package</description>
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<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
8-
<maintainer email="makoto.yabuta@tier4.jp">yabuta</maintainer>
9-
<maintainer email="kahhooi.tan@tier4.jp">Kah Hooi Tan</maintainer>
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<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
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<license>Apache License 2.0</license>
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‎common/autoware_auto_perception_rviz_plugin/CMakeLists.txt

+7-7
Original file line numberDiff line numberDiff line change
@@ -13,18 +13,18 @@ set(OD_PLUGIN_LIB_SRC
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)
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set(OD_PLUGIN_LIB_HEADERS
16-
include/visibility_control.hpp
16+
include/autoware_auto_perception_rviz_plugin/visibility_control.hpp
1717
)
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set(OD_PLUGIN_LIB_HEADERS_TO_WRAP
19-
include/object_detection/detected_objects_display.hpp
20-
include/object_detection/tracked_objects_display.hpp
21-
include/object_detection/predicted_objects_display.hpp
19+
include/autoware_auto_perception_rviz_plugin/object_detection/detected_objects_display.hpp
20+
include/autoware_auto_perception_rviz_plugin/object_detection/tracked_objects_display.hpp
21+
include/autoware_auto_perception_rviz_plugin/object_detection/predicted_objects_display.hpp
2222
)
2323

2424
set(COMMON_HEADERS
25-
include/common/color_alpha_property.hpp
26-
include/object_detection/object_polygon_detail.hpp
27-
include/object_detection/object_polygon_display_base.hpp
25+
include/autoware_auto_perception_rviz_plugin/common/color_alpha_property.hpp
26+
include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp
27+
include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp
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)
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set(COMMON_SRC

‎common/autoware_auto_perception_rviz_plugin/include/common/color_alpha_property.hpp ‎common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/common/color_alpha_property.hpp

+5-4
Original file line numberDiff line numberDiff line change
@@ -11,13 +11,14 @@
1111
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
1313
// limitations under the License.
14-
#ifndef COMMON__COLOR_ALPHA_PROPERTY_HPP_
15-
#define COMMON__COLOR_ALPHA_PROPERTY_HPP_
14+
#ifndef AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__COMMON__COLOR_ALPHA_PROPERTY_HPP_
15+
#define AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__COMMON__COLOR_ALPHA_PROPERTY_HPP_
16+
17+
#include "autoware_auto_perception_rviz_plugin/visibility_control.hpp"
1618

1719
#include <rviz_common/display.hpp>
1820
#include <rviz_common/properties/color_property.hpp>
1921
#include <rviz_common/properties/float_property.hpp>
20-
#include <visibility_control.hpp>
2122

2223
#include <std_msgs/msg/color_rgba.hpp>
2324

@@ -55,4 +56,4 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ColorAlphaProperty
5556
} // namespace rviz_plugins
5657
} // namespace autoware
5758

58-
#endif // COMMON__COLOR_ALPHA_PROPERTY_HPP_
59+
#endif // AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__COMMON__COLOR_ALPHA_PROPERTY_HPP_

‎common/autoware_auto_perception_rviz_plugin/include/object_detection/detected_objects_display.hpp ‎common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/detected_objects_display.hpp

+4-4
Original file line numberDiff line numberDiff line change
@@ -11,10 +11,10 @@
1111
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
14-
#ifndef OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
15-
#define OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
14+
#ifndef AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
15+
#define AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
1616

17-
#include <object_detection/object_polygon_display_base.hpp>
17+
#include "autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp"
1818

1919
#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
2020

@@ -43,4 +43,4 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC DetectedObjectsDisplay
4343
} // namespace rviz_plugins
4444
} // namespace autoware
4545

46-
#endif // OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
46+
#endif // AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_

‎common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_detail.hpp ‎common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp

+55-8
Original file line numberDiff line numberDiff line change
@@ -12,12 +12,15 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414
/// \brief This file defines some helper functions used by ObjectPolygonDisplayBase class
15-
#ifndef OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
16-
#define OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
15+
#ifndef AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
16+
#define AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
1717

18+
#include "autoware_auto_perception_rviz_plugin/visibility_control.hpp"
19+
20+
#include <Eigen/Core>
21+
#include <Eigen/Eigen>
1822
#include <rclcpp/logging.hpp>
1923
#include <rclcpp/rclcpp.hpp>
20-
#include <visibility_control.hpp>
2124

2225
#include <autoware_auto_perception_msgs/msg/detected_object.hpp>
2326
#include <autoware_auto_perception_msgs/msg/object_classification.hpp>
@@ -83,13 +86,15 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::Sha
8386
get_shape_marker_ptr(
8487
const autoware_auto_perception_msgs::msg::Shape & shape_msg,
8588
const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
86-
const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width);
89+
const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
90+
const bool & is_orientation_available = true);
8791

8892
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
8993
get_2d_shape_marker_ptr(
9094
const autoware_auto_perception_msgs::msg::Shape & shape_msg,
9195
const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
92-
const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width);
96+
const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width,
97+
const bool & is_orientation_available = true);
9398

9499
/// \brief Convert the given polygon into a marker representing the shape in 3d
95100
/// \param centroid Centroid position of the shape in Object.header.frame_id frame
@@ -110,8 +115,14 @@ get_uuid_marker_ptr(
110115
const std_msgs::msg::ColorRGBA & color_rgba);
111116

112117
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
113-
get_pose_with_covariance_marker_ptr(
114-
const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance);
118+
get_pose_covariance_marker_ptr(
119+
const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
120+
const double & confidence_interval_coefficient);
121+
122+
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
123+
get_yaw_covariance_marker_ptr(
124+
const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance, const double & length,
125+
const double & confidence_interval_coefficient, const double & line_width);
115126

116127
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
117128
get_velocity_text_marker_ptr(
@@ -128,6 +139,23 @@ get_twist_marker_ptr(
128139
const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
129140
const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance, const double & line_width);
130141

142+
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
143+
get_twist_covariance_marker_ptr(
144+
const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
145+
const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance,
146+
const double & confidence_interval_coefficient);
147+
148+
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
149+
get_yaw_rate_marker_ptr(
150+
const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
151+
const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance, const double & line_width);
152+
153+
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
154+
get_yaw_rate_covariance_marker_ptr(
155+
const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
156+
const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance,
157+
const double & confidence_interval_coefficient, const double & line_width);
158+
131159
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
132160
get_predicted_path_marker_ptr(
133161
const autoware_auto_perception_msgs::msg::Shape & shape,
@@ -139,14 +167,33 @@ get_path_confidence_marker_ptr(
139167
const autoware_auto_perception_msgs::msg::PredictedPath & predicted_path,
140168
const std_msgs::msg::ColorRGBA & path_confidence_color);
141169

170+
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_arc_line_strip(
171+
const double start_angle, const double end_angle, const double radius,
172+
std::vector<geometry_msgs::msg::Point> & points);
173+
174+
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_line_list_from_points(
175+
const double point_list[][3], const int point_pairs[][2], const int & num_pairs,
176+
std::vector<geometry_msgs::msg::Point> & points);
177+
178+
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_covariance_eigen_vectors(
179+
const Eigen::Matrix2d & matrix, double & sigma1, double & sigma2, double & yaw);
180+
142181
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_bounding_box_line_list(
143182
const autoware_auto_perception_msgs::msg::Shape & shape,
144183
std::vector<geometry_msgs::msg::Point> & points);
145184

185+
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_bounding_box_direction_line_list(
186+
const autoware_auto_perception_msgs::msg::Shape & shape,
187+
std::vector<geometry_msgs::msg::Point> & points);
188+
146189
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_line_list(
147190
const autoware_auto_perception_msgs::msg::Shape & shape,
148191
std::vector<geometry_msgs::msg::Point> & points);
149192

193+
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_direction_line_list(
194+
const autoware_auto_perception_msgs::msg::Shape & shape,
195+
std::vector<geometry_msgs::msg::Point> & points);
196+
150197
AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_cylinder_line_list(
151198
const autoware_auto_perception_msgs::msg::Shape & shape,
152199
std::vector<geometry_msgs::msg::Point> & points);
@@ -238,4 +285,4 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC
238285
} // namespace rviz_plugins
239286
} // namespace autoware
240287

241-
#endif // OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
288+
#endif // AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_

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