refactor(image_projection_based_fusion): fix namespace and directory …

…structure (autowarefoundation#7990)

* refactor: add autoware on namespace

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: move headers under autoware

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

refactor: move image_projection_based_fusion headers under autoware namespace

* fix: remove unused dependencies

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

perception/image_projection_based_fusion/CMakeLists.txt

@@ -32,22 +32,22 @@ target_link_libraries(${PROJECT_NAME}
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "image_projection_based_fusion::RoiDetectedObjectFusionNode"
+  PLUGIN "autoware::image_projection_based_fusion::RoiDetectedObjectFusionNode"
   EXECUTABLE roi_detected_object_fusion_node
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "image_projection_based_fusion::RoiClusterFusionNode"
+  PLUGIN "autoware::image_projection_based_fusion::RoiClusterFusionNode"
   EXECUTABLE roi_cluster_fusion_node
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "image_projection_based_fusion::SegmentPointCloudFusionNode"
+  PLUGIN "autoware::image_projection_based_fusion::SegmentPointCloudFusionNode"
   EXECUTABLE segmentation_pointcloud_fusion_node
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "image_projection_based_fusion::RoiPointCloudFusionNode"
+  PLUGIN "autoware::image_projection_based_fusion::RoiPointCloudFusionNode"
   EXECUTABLE roi_pointcloud_fusion_node
 )
 
@@ -149,7 +149,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
   )
 
   rclcpp_components_register_node(pointpainting_lib
-    PLUGIN "image_projection_based_fusion::PointPaintingFusionNode"
+    PLUGIN "autoware::image_projection_based_fusion::PointPaintingFusionNode"
     EXECUTABLE pointpainting_fusion_node
   )
 

perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_
 
 #define EIGEN_MPL2_ONLY
 
@@ -31,7 +31,7 @@
 #include <string>
 #include <vector>
 
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 
 using sensor_msgs::msg::RegionOfInterest;
@@ -66,6 +66,6 @@ class Debugger
   std::size_t image_buffer_size_;
 };
 
-}  // namespace image_projection_based_fusion
+}  // namespace autoware::image_projection_based_fusion
 
-#endif  // IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__DEBUGGER_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_
 
+#include <autoware/image_projection_based_fusion/debugger.hpp>
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
-#include <image_projection_based_fusion/debugger.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
@@ -44,7 +44,7 @@
 #include <utility>
 #include <vector>
 
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
@@ -142,6 +142,6 @@ class FusionNode : public rclcpp::Node
   std::unique_ptr<autoware::universe_utils::DebugPublisher> debug_publisher_;
 };
 
-}  // namespace image_projection_based_fusion
+}  // namespace autoware::image_projection_based_fusion
 
-#endif  // IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_
 
-#include "image_projection_based_fusion/fusion_node.hpp"
-#include "image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp"
+#include "autoware/image_projection_based_fusion/fusion_node.hpp"
+#include "autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp"
 #include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp"
 
-#include <image_projection_based_fusion/utils/geometry.hpp>
-#include <image_projection_based_fusion/utils/utils.hpp>
+#include <autoware/image_projection_based_fusion/utils/geometry.hpp>
+#include <autoware/image_projection_based_fusion/utils/utils.hpp>
 #include <lidar_centerpoint/centerpoint_trt.hpp>
 #include <lidar_centerpoint/detection_class_remapper.hpp>
 
@@ -29,7 +29,7 @@
 #include <string>
 #include <vector>
 
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
@@ -78,5 +78,5 @@ class PointPaintingFusionNode
 
   bool out_of_scope(const DetectedObjects & obj);
 };
-}  // namespace image_projection_based_fusion
-#endif  // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_
+}  // namespace autoware::image_projection_based_fusion
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_
 
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
@@ -29,7 +29,7 @@
 #include <string>
 #include <utility>
 
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 struct PointCloudWithTransform
 {
@@ -67,6 +67,7 @@ class PointCloudDensification
   std::list<PointCloudWithTransform> pointcloud_cache_;
 };
 
-}  // namespace image_projection_based_fusion
+}  // namespace autoware::image_projection_based_fusion
 
-#endif  // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_
+// NOLINTNEXTLINE(whitespace/line_length)
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTCLOUD_DENSIFICATION_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_
 
-#include <image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp>
+#include <autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp>
 #include <lidar_centerpoint/centerpoint_trt.hpp>
 
 #include <memory>
 #include <string>
 
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 class PointPaintingTRT : public centerpoint::CenterPointTRT
 {
@@ -40,6 +40,6 @@ class PointPaintingTRT : public centerpoint::CenterPointTRT
 
   std::unique_ptr<image_projection_based_fusion::VoxelGenerator> vg_ptr_pp_{nullptr};
 };
-}  // namespace image_projection_based_fusion
+}  // namespace autoware::image_projection_based_fusion
 
-#endif  // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_
 
 #include <cuda.h>
 #include <cuda_runtime_api.h>
 
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 cudaError_t generateVoxels_random_launch(
   const float * points, size_t points_size, float min_x_range, float max_x_range, float min_y_range,
@@ -38,6 +38,6 @@ cudaError_t generateFeatures_launch(
   const float range_min_y, const float range_min_z, float * features,
   const std::size_t encoder_in_feature_size, cudaStream_t stream);
 
-}  // namespace image_projection_based_fusion
+}  // namespace autoware::image_projection_based_fusion
 
-#endif  // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__PREPROCESS_KERNEL_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp

@@ -12,18 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_
 
-#include <image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp>
+#include <autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp>
 #include <lidar_centerpoint/preprocess/pointcloud_densification.hpp>
 #include <lidar_centerpoint/preprocess/voxel_generator.hpp>
 
 #include <bitset>
 #include <memory>
 #include <vector>
 
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 
 class VoxelGenerator
@@ -45,6 +45,6 @@ class VoxelGenerator
   std::array<int, 3> grid_size_;
   std::array<float, 3> recip_voxel_size_;
 };
-}  // namespace image_projection_based_fusion
+}  // namespace autoware::image_projection_based_fusion
 
-#endif  // IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_
 
-#include "image_projection_based_fusion/fusion_node.hpp"
+#include "autoware/image_projection_based_fusion/fusion_node.hpp"
 
 #include <map>
 #include <memory>
 #include <string>
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 const std::map<std::string, uint8_t> IOU_MODE_MAP{{"iou", 0}, {"iou_x", 1}, {"iou_y", 2}};
 
@@ -61,6 +61,6 @@ class RoiClusterFusionNode
   // bool CheckUnknown(const DetectedObjectsWithFeature & obj);
 };
 
-}  // namespace image_projection_based_fusion
+}  // namespace autoware::image_projection_based_fusion
 
-#endif  // IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_detected_object_fusion/node.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp

@@ -12,21 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_
 
+#include "autoware/image_projection_based_fusion/fusion_node.hpp"
 #include "autoware/universe_utils/ros/debug_publisher.hpp"
-#include "image_projection_based_fusion/fusion_node.hpp"
 
-#include <image_projection_based_fusion/utils/utils.hpp>
+#include <autoware/image_projection_based_fusion/utils/utils.hpp>
 
 #include "autoware_perception_msgs/msg/object_classification.hpp"
 
 #include <map>
 #include <memory>
 #include <vector>
 
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 
 using sensor_msgs::msg::RegionOfInterest;
@@ -74,6 +74,6 @@ class RoiDetectedObjectFusionNode
     ignored_object_flags_map_;
 };
 
-}  // namespace image_projection_based_fusion
+}  // namespace autoware::image_projection_based_fusion
 
-#endif  // IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_
 
-#include "image_projection_based_fusion/fusion_node.hpp"
+#include "autoware/image_projection_based_fusion/fusion_node.hpp"
 
-#include <image_projection_based_fusion/utils/utils.hpp>
+#include <autoware/image_projection_based_fusion/utils/utils.hpp>
 
 #include <string>
 #include <vector>
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 class RoiPointCloudFusionNode
 : public FusionNode<PointCloud2, DetectedObjectWithFeature, DetectedObjectsWithFeature>
@@ -52,5 +52,5 @@ class RoiPointCloudFusionNode
   bool out_of_scope(const DetectedObjectWithFeature & obj);
 };
 
-}  // namespace image_projection_based_fusion
-#endif  // IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_
+}  // namespace autoware::image_projection_based_fusion
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__ROI_POINTCLOUD_FUSION__NODE_HPP_

perception/image_projection_based_fusion/include/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp → perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_
-#define IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_
+#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_
+#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_
 
-#include "image_projection_based_fusion/fusion_node.hpp"
+#include "autoware/image_projection_based_fusion/fusion_node.hpp"
 
-#include <image_projection_based_fusion/utils/utils.hpp>
+#include <autoware/image_projection_based_fusion/utils/utils.hpp>
 
 #include <string>
 #include <utility>
@@ -29,7 +29,7 @@
 #include <cv_bridge/cv_bridge.h>
 #endif
 
-namespace image_projection_based_fusion
+namespace autoware::image_projection_based_fusion
 {
 class SegmentPointCloudFusionNode : public FusionNode<PointCloud2, PointCloud2, Image>
 {
@@ -66,5 +66,5 @@ class SegmentPointCloudFusionNode : public FusionNode<PointCloud2, PointCloud2,
   }
 };
 
-}  // namespace image_projection_based_fusion
-#endif  // IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_
+}  // namespace autoware::image_projection_based_fusion
+#endif  // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__SEGMENTATION_POINTCLOUD_FUSION__NODE_HPP_