Merge branch 'awf-latest' into RT1-8508-improve-delay-lane-change-logic

common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

@@ -728,10 +728,10 @@ void calc_2d_bounding_box_bottom_orientation_line_list(
 
   // front corner cuts for orientation
   const double point_list[4][3] = {
-    {length_half, width_half - tick_width, height_half},
-    {length_half - tick_length, width_half, height_half},
-    {length_half, -width_half + tick_width, height_half},
-    {length_half - tick_length, -width_half, height_half},
+    {length_half, width_half - tick_width, -height_half},
+    {length_half - tick_length, width_half, -height_half},
+    {length_half, -width_half + tick_width, -height_half},
+    {length_half - tick_length, -width_half, -height_half},
   };
   const int point_pairs[2][2] = {
     {0, 1},

common/autoware_pyplot/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.14)
+
+project(autoware_pyplot)
+
+find_package(autoware_cmake REQUIRED)
+
+find_package(
+  Python3
+  COMPONENTS Interpreter Development
+  REQUIRED)
+find_package(pybind11 REQUIRED)
+
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} STATIC
+  DIRECTORY src
+)
+target_link_libraries(${PROJECT_NAME} ${Python3_LIBRARIES} pybind11::embed)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
+
+  file(GLOB_RECURSE test_files test/*.cpp)
+
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files})
+
+  target_link_libraries(test_${PROJECT_NAME}
+    ${PROJECT_NAME}
+  )
+endif()
+
+ament_auto_package()

common/autoware_pyplot/include/autoware/pyplot/axes.hpp

@@ -0,0 +1,141 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__PYPLOT__AXES_HPP_
+#define AUTOWARE__PYPLOT__AXES_HPP_
+
+#include <autoware/pyplot/common.hpp>
+#include <autoware/pyplot/legend.hpp>
+#include <autoware/pyplot/quiver.hpp>
+
+#include <tuple>
+
+namespace autoware::pyplot
+{
+inline namespace axes
+{
+class DECL_VISIBILITY Axes : public PyObjectWrapper
+{
+public:
+  explicit Axes(const pybind11::object & object);
+  explicit Axes(pybind11::object && object);
+
+  PyObjectWrapper add_patch(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper bar_label(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper cla(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper contour(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper errorbar(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper fill(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper fill_between(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  std::tuple<double, double> get_xlim() const;
+
+  std::tuple<double, double> get_ylim() const;
+
+  PyObjectWrapper grid(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper imshow(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  legend::Legend legend(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper plot(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  quiver::Quiver quiver(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_aspect(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_title(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_xlabel(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_xlim(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_ylabel(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper set_ylim(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper text(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+private:
+  void load_attrs();
+
+  pybind11::object add_patch_attr;
+  pybind11::object cla_attr;
+  pybind11::object contour_attr;
+  pybind11::object contourf_attr;
+  pybind11::object fill_attr;
+  pybind11::object fill_between_attr;
+  pybind11::object get_xlim_attr;
+  pybind11::object get_ylim_attr;
+  pybind11::object grid_attr;
+  pybind11::object imshow_attr;
+  pybind11::object legend_attr;
+  pybind11::object quiver_attr;
+  pybind11::object plot_attr;
+  pybind11::object scatter_attr;
+  pybind11::object set_aspect_attr;
+  pybind11::object set_title_attr;
+  pybind11::object set_xlabel_attr;
+  pybind11::object set_xlim_attr;
+  pybind11::object set_ylabel_attr;
+  pybind11::object set_ylim_attr;
+  pybind11::object text_attr;
+};
+}  // namespace axes
+}  // namespace autoware::pyplot
+#endif  // AUTOWARE__PYPLOT__AXES_HPP_

common/autoware_pyplot/include/autoware/pyplot/common.hpp

@@ -0,0 +1,44 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__PYPLOT__COMMON_HPP_
+#define AUTOWARE__PYPLOT__COMMON_HPP_
+
+#include <pybind11/pybind11.h>
+
+namespace autoware::pyplot
+{
+
+#ifdef _WIN32
+#define DECL_VISIBILITY __declspec(dllexport)
+#else
+#define DECL_VISIBILITY __attribute__((visibility("hidden")))
+#endif
+
+inline namespace common
+{
+class DECL_VISIBILITY PyObjectWrapper
+{
+public:
+  explicit PyObjectWrapper(const pybind11::object & object);
+  explicit PyObjectWrapper(pybind11::object && object);
+  pybind11::object unwrap() const { return self_; }
+
+protected:
+  pybind11::object self_;
+};
+}  // namespace common
+}  // namespace autoware::pyplot
+
+#endif  // AUTOWARE__PYPLOT__COMMON_HPP_

common/autoware_pyplot/include/autoware/pyplot/figure.hpp

@@ -0,0 +1,62 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__PYPLOT__FIGURE_HPP_
+#define AUTOWARE__PYPLOT__FIGURE_HPP_
+
+#include <autoware/pyplot/axes.hpp>
+#include <autoware/pyplot/common.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace figure
+{
+class DECL_VISIBILITY Figure : public PyObjectWrapper
+{
+public:
+  explicit Figure(const pybind11::object & object);
+  explicit Figure(pybind11::object && object);
+
+  axes::Axes add_axes(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  axes::Axes add_subplot(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper colorbar(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper savefig(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+  PyObjectWrapper tight_layout(
+    const pybind11::tuple & args = pybind11::tuple(),
+    const pybind11::dict & kwargs = pybind11::dict()) const;
+
+private:
+  void load_attrs();
+
+  pybind11::object add_axes_attr;
+  pybind11::object add_subplot_attr;
+  pybind11::object colorbar_attr;
+  pybind11::object savefig_attr;
+  pybind11::object tight_layout_attr;
+};
+}  // namespace figure
+}  // namespace autoware::pyplot
+#endif  // AUTOWARE__PYPLOT__FIGURE_HPP_

common/autoware_pyplot/include/autoware/pyplot/legend.hpp

@@ -0,0 +1,32 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__PYPLOT__LEGEND_HPP_
+#define AUTOWARE__PYPLOT__LEGEND_HPP_
+
+#include <autoware/pyplot/common.hpp>
+
+namespace autoware::pyplot
+{
+inline namespace legend
+{
+class DECL_VISIBILITY Legend : public PyObjectWrapper
+{
+public:
+  explicit Legend(const pybind11::object & object);
+  explicit Legend(pybind11::object && object);
+};
+}  // namespace legend
+}  // namespace autoware::pyplot
+#endif  // AUTOWARE__PYPLOT__LEGEND_HPP_

common/autoware_pyplot/include/autoware/pyplot/loader.hpp

@@ -0,0 +1,28 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__PYPLOT__LOADER_HPP_
+#define AUTOWARE__PYPLOT__LOADER_HPP_
+
+namespace autoware::pyplot
+{
+
+#define LOAD_FUNC_ATTR(obj, mod) \
+  do {                           \
+    obj##_attr = mod.attr(#obj); \
+  } while (0)
+
+}  // namespace autoware::pyplot
+
+#endif  // AUTOWARE__PYPLOT__LOADER_HPP_