change namespace from to

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

perception/autoware_lidar_centerpoint/CMakeLists.txt

@@ -131,7 +131,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
   )
 
   rclcpp_components_register_node(${PROJECT_NAME}_component
-    PLUGIN "autoware::centerpoint::LidarCenterPointNode"
+    PLUGIN "autoware::lidar_centerpoint::LidarCenterPointNode"
     EXECUTABLE ${PROJECT_NAME}_node
   )
 

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_config.hpp

@@ -18,7 +18,7 @@
 #include <cstddef>
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 class CenterPointConfig
 {
@@ -132,6 +132,6 @@ class CenterPointConfig
   std::size_t down_grid_size_y_ = grid_size_y_ / downsample_factor_;
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_trt.hpp

@@ -29,7 +29,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 class NetworkParam
 {
@@ -107,6 +107,6 @@ class CenterPointTRT
   cuda::unique_ptr<unsigned int[]> num_voxels_d_{nullptr};
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/detection_class_remapper.hpp

@@ -24,7 +24,7 @@
 
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 class DetectionClassRemapper
@@ -42,6 +42,6 @@ class DetectionClassRemapper
   int num_labels_;
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/network_trt.hpp

@@ -20,7 +20,7 @@
 
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 class VoxelEncoderTRT : public TensorRTWrapper
 {
@@ -48,6 +48,6 @@ class HeadTRT : public TensorRTWrapper
   std::vector<std::size_t> out_channel_sizes_;
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/scatter_kernel.hpp

@@ -18,14 +18,14 @@
 #include "cuda.h"
 #include "cuda_runtime_api.h"
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 cudaError_t scatterFeatures_launch(
   const float * pillar_features, const int * coords, const unsigned int * num_pillars,
   const std::size_t max_voxel_size, const std::size_t encoder_out_feature_size,
   const std::size_t grid_size_x, const std::size_t grid_size_y, float * scattered_features,
   cudaStream_t stream);
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp

@@ -23,7 +23,7 @@
 #include <memory>
 #include <string>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 class TensorRTWrapper
@@ -62,6 +62,6 @@ class TensorRTWrapper
   tensorrt_common::TrtUniquePtr<nvinfer1::ICudaEngine> engine_{nullptr};
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/node.hpp

@@ -34,7 +34,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 class LidarCenterPointNode : public rclcpp::Node
@@ -69,6 +69,6 @@ class LidarCenterPointNode : public rclcpp::Node
   std::unique_ptr<autoware::universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__NODE_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/circle_nms_kernel.hpp

@@ -18,14 +18,14 @@
 #include "autoware/lidar_centerpoint/utils.hpp"
 #include "thrust/device_vector.h"
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 // Non-maximum suppression (NMS) uses the distance on the xy plane instead of
 // intersection over union (IoU) to suppress overlapped objects.
 std::size_t circleNMS(
   thrust::device_vector<Box3D> & boxes3d, const float distance_threshold,
   thrust::device_vector<bool> & keep_mask, cudaStream_t stream);
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp

@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 using autoware_perception_msgs::msg::DetectedObject;
 
@@ -76,6 +76,6 @@ class NonMaximumSuppression
   std::vector<bool> target_class_mask_{};
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/postprocess_kernel.hpp

@@ -23,7 +23,7 @@
 
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 class PostProcessCUDA
 {
@@ -41,6 +41,6 @@ class PostProcessCUDA
   thrust::device_vector<float> yaw_norm_thresholds_d_;
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__POSTPROCESS_KERNEL_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/pointcloud_densification.hpp

@@ -29,7 +29,7 @@
 
 #include "autoware/lidar_centerpoint/cuda_utils.hpp"
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 class DensificationParam
 {
@@ -89,6 +89,6 @@ class PointCloudDensification
   std::list<PointCloudWithTransform> pointcloud_cache_;
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/preprocess_kernel.hpp

@@ -18,7 +18,7 @@
 #include "cuda.h"
 #include "cuda_runtime_api.h"
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 cudaError_t generateSweepPoints_launch(
   const float * input_points, size_t points_size, int input_point_step, float time_lag,
@@ -41,6 +41,6 @@ cudaError_t generateFeatures_launch(
   const float voxel_size_y, const float voxel_size_z, const float range_min_x,
   const float range_min_y, const float range_min_z, float * features, cudaStream_t stream);
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__PREPROCESS_KERNEL_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp

@@ -23,7 +23,7 @@
 #include <memory>
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 class VoxelGeneratorTemplate
 {
@@ -54,6 +54,6 @@ class VoxelGenerator : public VoxelGeneratorTemplate
   std::size_t generateSweepPoints(float * d_points, cudaStream_t stream) override;
 };
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__VOXEL_GENERATOR_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/ros_utils.hpp

@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 void box3DToDetectedObject(
@@ -39,6 +39,6 @@ std::array<double, 36> convertTwistCovarianceMatrix(const Box3D & box3d);
 
 bool isCarLikeVehicleLabel(const uint8_t label);
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__ROS_UTILS_HPP_

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/utils.hpp

@@ -17,7 +17,7 @@
 
 #include <cstddef>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 struct Box3D
 {
@@ -49,6 +49,6 @@ struct Box3D
 // cspell: ignore divup
 std::size_t divup(const std::size_t a, const std::size_t b);
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint
 
 #endif  // AUTOWARE__LIDAR_CENTERPOINT__UTILS_HPP_

perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml

@@ -15,7 +15,7 @@
 
   <group if="$(var use_pointcloud_container)">
     <load_composable_node target="$(var pointcloud_container_name)">
-      <composable_node pkg="autoware_lidar_centerpoint" plugin="autoware::centerpoint::LidarCenterPointNode" name="lidar_centerpoint">
+      <composable_node pkg="autoware_lidar_centerpoint" plugin="autoware::lidar_centerpoint::LidarCenterPointNode" name="lidar_centerpoint">
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="$(var output/objects)"/>
         <param from="$(var model_param_path)" allow_substs="true"/>

perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp

@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 CenterPointTRT::CenterPointTRT(
   const NetworkParam & encoder_param, const NetworkParam & head_param,
@@ -200,4 +200,4 @@ void CenterPointTRT::postProcess(std::vector<Box3D> & det_boxes3d)
   }
 }
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint

perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/lidar_centerpoint/detection_class_remapper.hpp"
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 void DetectionClassRemapper::setParameters(
@@ -68,4 +68,4 @@ void DetectionClassRemapper::mapClasses(autoware_perception_msgs::msg::DetectedO
   }
 }
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint

perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/lidar_centerpoint/network/network_trt.hpp"
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 bool VoxelEncoderTRT::setProfile(
   nvinfer1::IBuilder & builder, nvinfer1::INetworkDefinition & network,
@@ -79,4 +79,4 @@ bool HeadTRT::setProfile(
   return true;
 }
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint

perception/autoware_lidar_centerpoint/lib/network/scatter_kernel.cu

@@ -20,7 +20,7 @@ namespace
 const std::size_t THREADS_PER_BLOCK = 32;
 }  // namespace
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 __global__ void scatterFeatures_kernel(
   const float * pillar_features, const int * coords, const unsigned int * num_pillars,
@@ -64,4 +64,4 @@ cudaError_t scatterFeatures_launch(
   return cudaGetLastError();
 }
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint

perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp

@@ -20,7 +20,7 @@
 #include <memory>
 #include <string>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 TensorRTWrapper::TensorRTWrapper(const CenterPointConfig & config) : config_(config)
 {
@@ -164,4 +164,4 @@ bool TensorRTWrapper::loadEngine(const std::string & engine_path)
   return true;
 }
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint

perception/autoware_lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu

@@ -31,7 +31,7 @@ namespace
 const std::size_t THREADS_PER_BLOCK_NMS = 16;
 }  // namespace
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 __device__ inline float dist2dPow(const Box3D * a, const Box3D * b)
@@ -140,4 +140,4 @@ std::size_t circleNMS(
   return num_to_keep;
 }
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint

perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp

@@ -18,7 +18,7 @@
 #include <object_recognition_utils/geometry.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 void NonMaximumSuppression::setParameters(const NMSParams & params)
@@ -101,4 +101,4 @@ std::vector<DetectedObject> NonMaximumSuppression::apply(
 
   return output_objects;
 }
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint

perception/autoware_lidar_centerpoint/lib/postprocess/postprocess_kernel.cu

@@ -23,7 +23,7 @@ namespace
 const std::size_t THREADS_PER_BLOCK = 32;
 }  // namespace
 
-namespace autoware::centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 struct is_score_greater
@@ -192,4 +192,4 @@ cudaError_t PostProcessCUDA::generateDetectedBoxes3D_launch(
   return cudaGetLastError();
 }
 
-}  // namespace autoware::centerpoint
+}  // namespace autoware::lidar_centerpoint