refactor(object_recognition_utils): add autoware prefix to object_rec…

…ognition_utils (#8946)

Signed-off-by: Esteve Fernandez <[email protected]>

.github/CODEOWNERS

@@ -6,6 +6,7 @@ common/autoware_grid_map_utils/** [email protected]
 common/autoware_interpolation/** [email protected] [email protected]
 common/autoware_kalman_filter/** [email protected] [email protected] [email protected]
 common/autoware_motion_utils/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+common/autoware_object_recognition_utils/** [email protected] [email protected] [email protected]
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** [email protected]
 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** [email protected]
 common/autoware_path_distance_calculator/** [email protected]
@@ -24,7 +25,6 @@ common/fake_test_node/** [email protected] [email protected] shumpei.wakabay
 common/global_parameter_loader/** [email protected]
 common/glog_component/** [email protected]
 common/goal_distance_calculator/** [email protected]
-common/object_recognition_utils/** [email protected] [email protected] [email protected]
 common/osqp_interface/** [email protected] [email protected] [email protected] [email protected]
 common/polar_grid/** [email protected]
 common/qp_interface/** [email protected] [email protected] [email protected] [email protected]

common/object_recognition_utils/CMakeLists.txt → common/autoware_object_recognition_utils/CMakeLists.txt

@@ -1,12 +1,12 @@
 cmake_minimum_required(VERSION 3.14)
-project(object_recognition_utils)
+project(autoware_object_recognition_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Boost REQUIRED)
 
-ament_auto_add_library(object_recognition_utils SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/predicted_path_utils.cpp
   src/conversion.cpp
 )
@@ -19,7 +19,7 @@ if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_object_recognition_utils ${test_files})
 
   target_link_libraries(test_object_recognition_utils
-    object_recognition_utils
+    ${PROJECT_NAME}
   )
 endif()
 

common/object_recognition_utils/README.md → common/autoware_object_recognition_utils/README.md

@@ -1,4 +1,4 @@
-# object_recognition_utils
+# autoware_object_recognition_utils
 
 ## Purpose
 

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

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_
-#define OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_
+#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_
+#define AUTOWARE__OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_perception_msgs/msg/tracked_objects.hpp>
 
-namespace object_recognition_utils
+namespace autoware::object_recognition_utils
 {
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
@@ -28,6 +28,6 @@ using autoware_perception_msgs::msg::TrackedObjects;
 DetectedObject toDetectedObject(const TrackedObject & tracked_object);
 DetectedObjects toDetectedObjects(const TrackedObjects & tracked_objects);
 TrackedObject toTrackedObject(const DetectedObject & detected_object);
-}  // namespace object_recognition_utils
+}  // namespace autoware::object_recognition_utils
 
-#endif  // OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_
+#endif  // AUTOWARE__OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_

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

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_
-#define OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_
+#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_
+#define AUTOWARE__OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_
 
 #include <autoware_perception_msgs/msg/detected_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_perception_msgs/msg/tracked_object.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
-namespace object_recognition_utils
+namespace autoware::object_recognition_utils
 {
 template <class T>
 geometry_msgs::msg::Pose getPose([[maybe_unused]] const T & p)
@@ -52,6 +52,6 @@ inline geometry_msgs::msg::Pose getPose(const autoware_perception_msgs::msg::Pre
 {
   return obj.kinematics.initial_pose_with_covariance.pose;
 }
-}  // namespace object_recognition_utils
+}  // namespace autoware::object_recognition_utils
 
-#endif  // OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_
+#endif  // AUTOWARE__OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_

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

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
-#define OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
+#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
+#define AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
 
+#include "autoware/object_recognition_utils/geometry.hpp"
 #include "autoware/universe_utils/geometry/boost_geometry.hpp"
 #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
-#include "object_recognition_utils/geometry.hpp"
 
 #include <boost/geometry.hpp>
 
@@ -26,7 +26,7 @@
 #include <utility>
 #include <vector>
 
-namespace object_recognition_utils
+namespace autoware::object_recognition_utils
 {
 using autoware::universe_utils::Polygon2d;
 // minimum area to avoid division by zero
@@ -126,6 +126,6 @@ double get2dRecall(const T1 source_object, const T2 target_object)
 
   return std::min(1.0, intersection_area / target_area);
 }
-}  // namespace object_recognition_utils
+}  // namespace autoware::object_recognition_utils
 
-#endif  // OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
+#endif  // AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_

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

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_
-#define OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_
+#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_
+#define AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_
 
 #include "autoware_perception_msgs/msg/object_classification.hpp"
 
 #include <string>
 #include <vector>
 
-namespace object_recognition_utils
+namespace autoware::object_recognition_utils
 {
 using autoware_perception_msgs::msg::ObjectClassification;
 
@@ -169,6 +169,6 @@ inline std::string convertLabelToString(
   return convertLabelToString(highest_prob_label);
 }
 
-}  // namespace object_recognition_utils
+}  // namespace autoware::object_recognition_utils
 
-#endif  // OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_
+#endif  // AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_

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

@@ -0,0 +1,25 @@
+// Copyright 2022 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__OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_
+#define AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_
+
+#include "autoware/object_recognition_utils/conversion.hpp"
+#include "autoware/object_recognition_utils/geometry.hpp"
+#include "autoware/object_recognition_utils/matching.hpp"
+#include "autoware/object_recognition_utils/object_classification.hpp"
+#include "autoware/object_recognition_utils/predicted_path_utils.hpp"
+#include "autoware/object_recognition_utils/transform.hpp"
+
+#endif  // AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_

common/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

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
-#define OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
+#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
+#define AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 
@@ -24,7 +24,7 @@
 
 #include <vector>
 
-namespace object_recognition_utils
+namespace autoware::object_recognition_utils
 {
 /**
  * @brief Calculate Interpolated Pose from predicted path by time
@@ -61,6 +61,6 @@ autoware_perception_msgs::msg::PredictedPath resamplePredictedPath(
   const autoware_perception_msgs::msg::PredictedPath & path, const double sampling_time_interval,
   const double sampling_horizon, const bool use_spline_for_xy = true,
   const bool use_spline_for_z = false);
-}  // namespace object_recognition_utils
+}  // namespace autoware::object_recognition_utils
 
-#endif  // OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
+#endif  // AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_

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

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_
-#define OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_
+#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_
+#define AUTOWARE__OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_
 
 #include <pcl_ros/transforms.hpp>
 
@@ -71,7 +71,7 @@ namespace detail
 }
 }  // namespace detail
 
-namespace object_recognition_utils
+namespace autoware::object_recognition_utils
 {
 template <class T>
 bool transformObjects(
@@ -147,6 +147,6 @@ bool transformObjectsWithFeature(
   }
   return true;
 }
-}  // namespace object_recognition_utils
+}  // namespace autoware::object_recognition_utils
 
-#endif  // OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_
+#endif  // AUTOWARE__OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_

common/object_recognition_utils/package.xml → common/autoware_object_recognition_utils/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>object_recognition_utils</name>
+  <name>autoware_object_recognition_utils</name>
   <version>0.1.0</version>
-  <description>The object_recognition_utils package</description>
+  <description>The autoware_object_recognition_utils package</description>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>
   <maintainer email="[email protected]">Shunsuke Miura</maintainer>
   <maintainer email="[email protected]">Yoshi Ri</maintainer>

common/object_recognition_utils/src/conversion.cpp → common/autoware_object_recognition_utils/src/conversion.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_recognition_utils/conversion.hpp"
+#include "autoware/object_recognition_utils/conversion.hpp"
 
-namespace object_recognition_utils
+namespace autoware::object_recognition_utils
 {
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
@@ -68,4 +68,4 @@ TrackedObject toTrackedObject(const DetectedObject & detected_object)
   tracked_object.shape = detected_object.shape;
   return tracked_object;
 }
-}  // namespace object_recognition_utils
+}  // namespace autoware::object_recognition_utils

common/object_recognition_utils/src/predicted_path_utils.cpp → common/autoware_object_recognition_utils/src/predicted_path_utils.cpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_recognition_utils/predicted_path_utils.hpp"
+#include "autoware/object_recognition_utils/predicted_path_utils.hpp"
 
 #include "autoware/interpolation/linear_interpolation.hpp"
 #include "autoware/interpolation/spherical_linear_interpolation.hpp"
 #include "autoware/interpolation/spline_interpolation.hpp"
 
 #include <algorithm>
 
-namespace object_recognition_utils
+namespace autoware::object_recognition_utils
 {
 boost::optional<geometry_msgs::msg::Pose> calcInterpolatedPose(
   const autoware_perception_msgs::msg::PredictedPath & path, const double relative_time)
@@ -129,4 +129,4 @@ autoware_perception_msgs::msg::PredictedPath resamplePredictedPath(
   resampled_path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval);
   return resampled_path;
 }
-}  // namespace object_recognition_utils
+}  // namespace autoware::object_recognition_utils

common/object_recognition_utils/test/src/test_conversion.cpp → common/autoware_object_recognition_utils/test/src/test_conversion.cpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/object_recognition_utils/conversion.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "object_recognition_utils/conversion.hpp"
 
 #include <gtest/gtest.h>
 
@@ -42,8 +42,8 @@ autoware_perception_msgs::msg::ObjectClassification createObjectClassification(
 // NOTE: covariance is not checked
 TEST(conversion, test_toDetectedObject)
 {
+  using autoware::object_recognition_utils::toDetectedObject;
   using autoware_perception_msgs::msg::ObjectClassification;
-  using object_recognition_utils::toDetectedObject;
 
   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::object_recognition_utils::toTrackedObject;
   using autoware_perception_msgs::msg::ObjectClassification;
-  using object_recognition_utils::toTrackedObject;
 
   autoware_perception_msgs::msg::DetectedObject detected_obj;
   // existence probability

common/object_recognition_utils/test/src/test_geometry.cpp → common/autoware_object_recognition_utils/test/src/test_geometry.cpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_recognition_utils/geometry.hpp"
+#include "autoware/object_recognition_utils/geometry.hpp"
 
 #include <gtest/gtest.h>
 
 #include <string>
 
 TEST(geometry, getPose)
 {
-  using object_recognition_utils::getPose;
+  using autoware::object_recognition_utils::getPose;
 
   const double x_ans = 1.0;
   const double y_ans = 2.0;

common/object_recognition_utils/test/src/test_matching.cpp → common/autoware_object_recognition_utils/test/src/test_matching.cpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/object_recognition_utils/matching.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "object_recognition_utils/matching.hpp"
 
 #include <autoware_perception_msgs/msg/detected_object.hpp>
 
@@ -37,8 +37,8 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double
 
 TEST(matching, test_get2dIoU)
 {
+  using autoware::object_recognition_utils::get2dIoU;
   using autoware_perception_msgs::msg::DetectedObject;
-  using object_recognition_utils::get2dIoU;
 
   const double quart_circle = 0.16237976320958225;
 
@@ -93,7 +93,7 @@ TEST(matching, test_get2dIoU)
 
 TEST(object_recognition_utils, test_get2dGeneralizedIoU)
 {
-  using object_recognition_utils::get2dGeneralizedIoU;
+  using autoware::object_recognition_utils::get2dGeneralizedIoU;
   // TODO(Shin-kyoto):
   // get2dGeneralizedIoU uses outer points of each polygon.
   // But these points contain an sampling error of outer line,
@@ -153,8 +153,8 @@ TEST(object_recognition_utils, test_get2dGeneralizedIoU)
 
 TEST(matching, test_get2dPrecision)
 {
+  using autoware::object_recognition_utils::get2dPrecision;
   using autoware_perception_msgs::msg::DetectedObject;
-  using object_recognition_utils::get2dPrecision;
   const double quart_circle = 0.16237976320958225;
 
   {  // non overlapped
@@ -220,8 +220,8 @@ TEST(matching, test_get2dPrecision)
 
 TEST(matching, test_get2dRecall)
 {
+  using autoware::object_recognition_utils::get2dRecall;
   using autoware_perception_msgs::msg::DetectedObject;
-  using object_recognition_utils::get2dRecall;
   const double quart_circle = 0.16237976320958225;
 
   {  // non overlapped