chore: separate traffic_light_utils from perception_utils

common/object_recognition_utils/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.14)
+project(object_recognition_utils)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(Boost REQUIRED)
+
+ament_auto_add_library(object_recognition_utils SHARED
+  src/predicted_path_utils.cpp
+  src/conversion.cpp
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
+
+  file(GLOB_RECURSE test_files test/**/*.cpp)
+
+  ament_add_ros_isolated_gtest(test_object_recognition_utils ${test_files})
+
+  target_link_libraries(test_object_recognition_utils
+    object_recognition_utils
+  )
+endif()
+
+ament_auto_package()

common/perception_utils/include/perception_utils/conversion.hpp → common/object_recognition_utils/include/object_recognition_utils/conversion.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_UTILS__CONVERSION_HPP_
-#define PERCEPTION_UTILS__CONVERSION_HPP_
+#ifndef OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_
+#define OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 
-namespace perception_utils
+namespace object_recognition_utils
 {
 using autoware_auto_perception_msgs::msg::DetectedObject;
 using autoware_auto_perception_msgs::msg::DetectedObjects;
@@ -29,6 +29,6 @@ DetectedObject toDetectedObject(const TrackedObject & tracked_object);
 DetectedObjects toDetectedObjects(const TrackedObjects & tracked_objects);
 TrackedObject toTrackedObject(const DetectedObject & detected_object);
 TrackedObjects toTrackedObjects(const DetectedObjects & detected_objects);
-}  // namespace perception_utils
+}  // namespace object_recognition_utils
 
-#endif  // PERCEPTION_UTILS__CONVERSION_HPP_
+#endif  // OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_

common/perception_utils/include/perception_utils/geometry.hpp → common/object_recognition_utils/include/object_recognition_utils/geometry.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_UTILS__GEOMETRY_HPP_
-#define PERCEPTION_UTILS__GEOMETRY_HPP_
+#ifndef OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_
+#define OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_
 
 #include <autoware_auto_perception_msgs/msg/detected_object.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_object.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
-namespace perception_utils
+namespace object_recognition_utils
 {
 template <class T>
 geometry_msgs::msg::Pose getPose([[maybe_unused]] const T & p)
@@ -55,6 +55,6 @@ inline geometry_msgs::msg::Pose getPose(
 {
   return obj.kinematics.initial_pose_with_covariance.pose;
 }
-}  // namespace perception_utils
+}  // namespace object_recognition_utils
 
-#endif  // PERCEPTION_UTILS__GEOMETRY_HPP_
+#endif  // OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_

common/perception_utils/include/perception_utils/matching.hpp → common/object_recognition_utils/include/object_recognition_utils/matching.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_UTILS__MATCHING_HPP_
-#define PERCEPTION_UTILS__MATCHING_HPP_
+#ifndef OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
+#define OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
 
-#include "perception_utils/geometry.hpp"
+#include "object_recognition_utils/geometry.hpp"
 #include "tier4_autoware_utils/geometry/boost_geometry.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
@@ -26,7 +26,7 @@
 #include <utility>
 #include <vector>
 
-namespace perception_utils
+namespace object_recognition_utils
 {
 using tier4_autoware_utils::Polygon2d;
 
@@ -116,6 +116,6 @@ double get2dRecall(const T1 source_object, const T2 target_object)
 
   return std::min(1.0, intersection_area / target_area);
 }
-}  // namespace perception_utils
+}  // namespace object_recognition_utils
 
-#endif  // PERCEPTION_UTILS__MATCHING_HPP_
+#endif  // OBJECT_RECOGNITION_UTILS__MATCHING_HPP_

common/perception_utils/include/perception_utils/object_classification.hpp → common/object_recognition_utils/include/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 PERCEPTION_UTILS__OBJECT_CLASSIFICATION_HPP_
-#define PERCEPTION_UTILS__OBJECT_CLASSIFICATION_HPP_
+#ifndef OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_
+#define OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_
 
 #include "autoware_auto_perception_msgs/msg/object_classification.hpp"
 
 #include <string>
 #include <vector>
 
-namespace perception_utils
+namespace object_recognition_utils
 {
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 
@@ -169,6 +169,6 @@ inline std::string convertLabelToString(
   return convertLabelToString(highest_prob_label);
 }
 
-}  // namespace perception_utils
+}  // namespace object_recognition_utils
 
-#endif  // PERCEPTION_UTILS__OBJECT_CLASSIFICATION_HPP_
+#endif  // OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_

common/perception_utils/include/perception_utils/perception_utils.hpp → common/object_recognition_utils/include/object_recognition_utils/object_recognition_utils.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_UTILS__PERCEPTION_UTILS_HPP_
-#define PERCEPTION_UTILS__PERCEPTION_UTILS_HPP_
+#ifndef OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_
+#define OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_
 
-#include "perception_utils/conversion.hpp"
-#include "perception_utils/geometry.hpp"
-#include "perception_utils/matching.hpp"
-#include "perception_utils/object_classification.hpp"
-#include "perception_utils/predicted_path_utils.hpp"
-#include "perception_utils/transform.hpp"
+#include "object_recognition_utils/conversion.hpp"
+#include "object_recognition_utils/geometry.hpp"
+#include "object_recognition_utils/matching.hpp"
+#include "object_recognition_utils/object_classification.hpp"
+#include "object_recognition_utils/predicted_path_utils.hpp"
+#include "object_recognition_utils/transform.hpp"
 
-#endif  // PERCEPTION_UTILS__PERCEPTION_UTILS_HPP_
+#endif  // OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_

common/perception_utils/include/perception_utils/predicted_path_utils.hpp → common/object_recognition_utils/include/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 PERCEPTION_UTILS__PREDICTED_PATH_UTILS_HPP_
-#define PERCEPTION_UTILS__PREDICTED_PATH_UTILS_HPP_
+#ifndef OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
+#define OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
 
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
@@ -24,7 +24,7 @@
 
 #include <vector>
 
-namespace perception_utils
+namespace object_recognition_utils
 {
 /**
  * @brief Calculate Interpolated Pose from predicted path by time
@@ -61,6 +61,6 @@ autoware_auto_perception_msgs::msg::PredictedPath resamplePredictedPath(
   const autoware_auto_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 perception_utils
+}  // namespace object_recognition_utils
 
-#endif  // PERCEPTION_UTILS__PREDICTED_PATH_UTILS_HPP_
+#endif  // OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_

common/perception_utils/include/perception_utils/transform.hpp → common/object_recognition_utils/include/object_recognition_utils/transform.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_UTILS__TRANSFORM_HPP_
-#define PERCEPTION_UTILS__TRANSFORM_HPP_
+#ifndef OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_
+#define OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_
 
 #include <geometry_msgs/msg/transform.hpp>
 
@@ -41,13 +41,13 @@ namespace detail
       target_frame_id, source_frame_id, time, rclcpp::Duration::from_seconds(0.5));
     return self_transform_stamped.transform;
   } catch (tf2::TransformException & ex) {
-    RCLCPP_WARN_STREAM(rclcpp::get_logger("perception_utils"), ex.what());
+    RCLCPP_WARN_STREAM(rclcpp::get_logger("object_recognition_utils"), ex.what());
     return boost::none;
   }
 }
 }  // namespace detail
 
-namespace perception_utils
+namespace object_recognition_utils
 {
 template <class T>
 bool transformObjects(
@@ -79,6 +79,6 @@ bool transformObjects(
   }
   return true;
 }
-}  // namespace perception_utils
+}  // namespace object_recognition_utils
 
-#endif  // PERCEPTION_UTILS__TRANSFORM_HPP_
+#endif  // OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_

common/object_recognition_utils/package.xml

@@ -0,0 +1,30 @@
+<?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>
+  <version>0.1.0</version>
+  <description>The object_recognition_utils package</description>
+  <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
+  <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
+  <maintainer email="yusuke.muramatsu@tier4.jp">Yusuke Muramatsu</maintainer>
+  <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_auto_perception_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>interpolation</depend>
+  <depend>libboost-dev</depend>
+  <depend>rclcpp</depend>
+  <depend>tier4_autoware_utils</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/perception_utils/src/conversion.cpp → common/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 "perception_utils/conversion.hpp"
+#include "object_recognition_utils/conversion.hpp"
 
-namespace perception_utils
+namespace object_recognition_utils
 {
 using autoware_auto_perception_msgs::msg::DetectedObject;
 using autoware_auto_perception_msgs::msg::DetectedObjects;
@@ -79,4 +79,4 @@ TrackedObjects toTrackedObjects(const DetectedObjects & detected_objects)
   }
   return tracked_objects;
 }
-}  // namespace perception_utils
+}  // namespace object_recognition_utils

common/perception_utils/src/predicted_path_utils.cpp → common/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 "perception_utils/predicted_path_utils.hpp"
+#include "object_recognition_utils/predicted_path_utils.hpp"
 
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spherical_linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"
 
 #include <algorithm>
 
-namespace perception_utils
+namespace object_recognition_utils
 {
 boost::optional<geometry_msgs::msg::Pose> calcInterpolatedPose(
   const autoware_auto_perception_msgs::msg::PredictedPath & path, const double relative_time)
@@ -130,4 +130,4 @@ autoware_auto_perception_msgs::msg::PredictedPath resamplePredictedPath(
   resampled_path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval);
   return resampled_path;
 }
-}  // namespace perception_utils
+}  // namespace object_recognition_utils

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

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "perception_utils/conversion.hpp"
+#include "object_recognition_utils/conversion.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
@@ -43,7 +43,7 @@ autoware_auto_perception_msgs::msg::ObjectClassification createObjectClassificat
 TEST(conversion, test_toDetectedObject)
 {
   using autoware_auto_perception_msgs::msg::ObjectClassification;
-  using perception_utils::toDetectedObject;
+  using object_recognition_utils::toDetectedObject;
 
   autoware_auto_perception_msgs::msg::TrackedObject tracked_obj;
   // existence probability
@@ -161,7 +161,7 @@ TEST(conversion, test_toDetectedObject)
 TEST(conversion, test_toTrackedObject)
 {
   using autoware_auto_perception_msgs::msg::ObjectClassification;
-  using perception_utils::toTrackedObject;
+  using object_recognition_utils::toTrackedObject;
 
   autoware_auto_perception_msgs::msg::DetectedObject detected_obj;
   // existence probability

common/perception_utils/test/src/test_geometry.cpp → common/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 "perception_utils/geometry.hpp"
+#include "object_recognition_utils/geometry.hpp"
 
 #include <gtest/gtest.h>
 
 #include <string>
 
 TEST(geometry, getPose)
 {
-  using perception_utils::getPose;
+  using object_recognition_utils::getPose;
 
   const double x_ans = 1.0;
   const double y_ans = 2.0;

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

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "perception_utils/matching.hpp"
+#include "object_recognition_utils/matching.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <autoware_auto_perception_msgs/msg/detected_object.hpp>
@@ -38,7 +38,7 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double
 TEST(matching, test_get2dIoU)
 {
   using autoware_auto_perception_msgs::msg::DetectedObject;
-  using perception_utils::get2dIoU;
+  using object_recognition_utils::get2dIoU;
 
   const double quart_circle = 0.16237976320958225;
 
@@ -91,9 +91,9 @@ TEST(matching, test_get2dIoU)
   }
 }
 
-TEST(perception_utils, test_get2dGeneralizedIoU)
+TEST(object_recognition_utils, test_get2dGeneralizedIoU)
 {
-  using perception_utils::get2dGeneralizedIoU;
+  using object_recognition_utils::get2dGeneralizedIoU;
   // TODO(Shin-kyoto):
   // get2dGeneralizedIoU uses outer points of each polygon.
   // But these points contain an sampling error of outer line,
@@ -154,7 +154,7 @@ TEST(perception_utils, test_get2dGeneralizedIoU)
 TEST(matching, test_get2dPrecision)
 {
   using autoware_auto_perception_msgs::msg::DetectedObject;
-  using perception_utils::get2dPrecision;
+  using object_recognition_utils::get2dPrecision;
   const double quart_circle = 0.16237976320958225;
 
   {  // non overlapped
@@ -221,7 +221,7 @@ TEST(matching, test_get2dPrecision)
 TEST(matching, test_get2dRecall)
 {
   using autoware_auto_perception_msgs::msg::DetectedObject;
-  using perception_utils::get2dRecall;
+  using object_recognition_utils::get2dRecall;
   const double quart_circle = 0.16237976320958225;
 
   {  // non overlapped