diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index cbbea5eec8a88..7710bc398888b 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -129,7 +129,7 @@ perception/image_projection_based_fusion/** dai.nguyen@tier4.jp koji.minoda@tier perception/lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com yoshi.ri@tier4.jp perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi.ri@tier4.jp -perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp +perception/autoware_lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml index bd2ec18dee90f..52af37150cea5 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml @@ -37,10 +37,10 @@ - + - + diff --git a/perception/lidar_centerpoint/.gitignore b/perception/autoware_lidar_centerpoint/.gitignore similarity index 100% rename from perception/lidar_centerpoint/.gitignore rename to perception/autoware_lidar_centerpoint/.gitignore diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/autoware_lidar_centerpoint/CMakeLists.txt similarity index 86% rename from perception/lidar_centerpoint/CMakeLists.txt rename to perception/autoware_lidar_centerpoint/CMakeLists.txt index 915224a50d53f..88244b3153349 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/autoware_lidar_centerpoint/CMakeLists.txt @@ -1,10 +1,10 @@ cmake_minimum_required(VERSION 3.14) -project(lidar_centerpoint) +project(autoware_lidar_centerpoint) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO(lidar_centerpoint): Remove once upgrading to TensorRT 8.5 is complete +# TODO(autoware_lidar_centerpoint): Remove once upgrading to TensorRT 8.5 is complete add_compile_options(-Wno-deprecated-declarations) option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) @@ -79,7 +79,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ) ### centerpoint ### - ament_auto_add_library(centerpoint_lib SHARED + ament_auto_add_library(${PROJECT_NAME}_lib SHARED lib/centerpoint_trt.cpp lib/detection_class_remapper.cpp lib/utils.cpp @@ -91,24 +91,24 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) lib/preprocess/voxel_generator.cpp ) - cuda_add_library(centerpoint_cuda_lib SHARED + cuda_add_library(${PROJECT_NAME}_cuda_lib SHARED lib/postprocess/circle_nms_kernel.cu lib/postprocess/postprocess_kernel.cu lib/network/scatter_kernel.cu lib/preprocess/preprocess_kernel.cu ) - target_link_libraries(centerpoint_lib + target_link_libraries(${PROJECT_NAME}_lib ${NVINFER} ${NVONNXPARSER} ${CUDA_LIBRARIES} ${CUBLAS_LIBRARIES} ${CUDA_curand_LIBRARY} ${CUDNN_LIBRARY} - centerpoint_cuda_lib + ${PROJECT_NAME}_cuda_lib ) - target_include_directories(centerpoint_lib + target_include_directories(${PROJECT_NAME}_lib PUBLIC $ $ @@ -116,23 +116,23 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) # To suppress unknown-pragmas error. The root-cause is CUB library in CUDA 11.6. # This issue was fixed by https://github.com/NVIDIA/cub/commit/7d608bf1dc14553e2fb219eabeed80b76621b6fe - target_include_directories(centerpoint_lib + target_include_directories(${PROJECT_NAME}_lib SYSTEM PUBLIC ${CUDA_INCLUDE_DIRS} ) ## node ## - ament_auto_add_library(lidar_centerpoint_component SHARED + ament_auto_add_library(${PROJECT_NAME}_component SHARED src/node.cpp ) - target_link_libraries(lidar_centerpoint_component - centerpoint_lib + target_link_libraries(${PROJECT_NAME}_component + ${PROJECT_NAME}_lib ) - rclcpp_components_register_node(lidar_centerpoint_component - PLUGIN "centerpoint::LidarCenterPointNode" - EXECUTABLE lidar_centerpoint_node + rclcpp_components_register_node(${PROJECT_NAME}_component + PLUGIN "autoware::lidar_centerpoint::LidarCenterPointNode" + EXECUTABLE ${PROJECT_NAME}_node ) ament_export_dependencies(ament_cmake_python) @@ -144,7 +144,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ) install( - TARGETS centerpoint_cuda_lib + TARGETS ${PROJECT_NAME}_cuda_lib DESTINATION lib ) @@ -176,7 +176,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) # ) # # target_link_libraries(test_preprocess_kernel -# centerpoint_cuda_lib +# ${PROJECT_NAME}_cuda_lib # gtest # gtest_main # ) @@ -196,7 +196,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) # ) # # target_link_libraries(test_postprocess_kernel -# centerpoint_cuda_lib +# ${PROJECT_NAME}_cuda_lib # gtest # gtest_main # ) diff --git a/perception/lidar_centerpoint/README.md b/perception/autoware_lidar_centerpoint/README.md similarity index 94% rename from perception/lidar_centerpoint/README.md rename to perception/autoware_lidar_centerpoint/README.md index fa42655b6ca1f..83c18b76fd079 100644 --- a/perception/lidar_centerpoint/README.md +++ b/perception/autoware_lidar_centerpoint/README.md @@ -1,8 +1,8 @@ -# lidar_centerpoint +# autoware_lidar_centerpoint ## Purpose -lidar_centerpoint is a package for detecting dynamic 3D objects. +autoware_lidar_centerpoint is a package for detecting dynamic 3D objects. ## Inner-workings / Algorithms @@ -49,11 +49,11 @@ We trained the models using . ### The `build_only` option -The `lidar_centerpoint` node has `build_only` option to build the TensorRT engine file from the ONNX file. +The `autoware_lidar_centerpoint` node has `build_only` option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command: ```bash -ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefix lidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true +ros2 launch autoware_lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefix autoware_lidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true ``` ## Assumptions / Known limits @@ -225,7 +225,7 @@ the base link location of the vehicle. #### Convert CenterPoint PyTorch model to ONNX Format -The lidar_centerpoint implementation requires two ONNX models as input the voxel encoder and the backbone-neck-head of the CenterPoint model, other aspects of the network, +The autoware_lidar_centerpoint implementation requires two ONNX models as input the voxel encoder and the backbone-neck-head of the CenterPoint model, other aspects of the network, such as preprocessing operations, are implemented externally. Under the fork of the mmdetection3d repository, we have included a script that converts the CenterPoint model to Autoware compatible ONNX format. You can find it in `mmdetection3d/projects/AutowareCenterPoint` file. @@ -236,7 +236,7 @@ python projects/AutowareCenterPoint/centerpoint_onnx_converter.py --cfg projects #### Create the config file for the custom model -Create a new config file named **centerpoint_custom.param.yaml** under the config file directory of the lidar_centerpoint node. Sets the parameters of the config file like +Create a new config file named **centerpoint_custom.param.yaml** under the config file directory of the autoware_lidar_centerpoint node. Sets the parameters of the config file like point_cloud_range, point_feature_size, voxel_size, etc. according to the training config file. ```yaml @@ -262,7 +262,7 @@ point_cloud_range, point_feature_size, voxel_size, etc. according to the trainin ```bash cd /YOUR/AUTOWARE/PATH/Autoware source install/setup.bash -ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_custom model_path:=/PATH/TO/ONNX/FILE/ +ros2 launch autoware_lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_custom model_path:=/PATH/TO/ONNX/FILE/ ``` ### Changelog diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml similarity index 100% rename from perception/lidar_centerpoint/config/centerpoint.param.yaml rename to perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml diff --git a/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_ml_package.param.yaml similarity index 100% rename from perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml rename to perception/autoware_lidar_centerpoint/config/centerpoint_ml_package.param.yaml diff --git a/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml similarity index 100% rename from perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml rename to perception/autoware_lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml similarity index 100% rename from perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml rename to perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml similarity index 100% rename from perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml rename to perception/autoware_lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml diff --git a/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml b/perception/autoware_lidar_centerpoint/config/detection_class_remapper.param.yaml similarity index 100% rename from perception/lidar_centerpoint/config/detection_class_remapper.param.yaml rename to perception/autoware_lidar_centerpoint/config/detection_class_remapper.param.yaml diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_config.hpp similarity index 94% rename from perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_config.hpp index 7b560cf46e2e3..57ed124ab789f 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_config.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_ -#define LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_ #include #include -namespace 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 centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_trt.hpp similarity index 86% rename from perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_trt.hpp index 52ae86951c7cf..f622fe18c6845 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_trt.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_ -#define LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_ -#include "lidar_centerpoint/cuda_utils.hpp" -#include "lidar_centerpoint/network/network_trt.hpp" -#include "lidar_centerpoint/postprocess/postprocess_kernel.hpp" -#include "lidar_centerpoint/preprocess/voxel_generator.hpp" +#include "autoware/lidar_centerpoint/cuda_utils.hpp" +#include "autoware/lidar_centerpoint/network/network_trt.hpp" +#include "autoware/lidar_centerpoint/postprocess/postprocess_kernel.hpp" +#include "autoware/lidar_centerpoint/preprocess/voxel_generator.hpp" #include "pcl/point_cloud.h" #include "pcl/point_types.h" @@ -29,7 +29,7 @@ #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { class NetworkParam { @@ -107,6 +107,6 @@ class CenterPointTRT cuda::unique_ptr num_voxels_d_{nullptr}; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/cuda_utils.hpp similarity index 95% rename from perception/lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/cuda_utils.hpp index efe3bbb9a5482..dcb264e672a16 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/cuda_utils.hpp @@ -39,8 +39,8 @@ * https://creativecommons.org/publicdomain/zero/1.0/deed.en */ -#ifndef LIDAR_CENTERPOINT__CUDA_UTILS_HPP_ -#define LIDAR_CENTERPOINT__CUDA_UTILS_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__CUDA_UTILS_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__CUDA_UTILS_HPP_ #include "cuda_runtime_api.h" @@ -117,4 +117,4 @@ inline T * get_next_ptr(size_t num_elem, void *& workspace, size_t & workspace_s } // namespace cuda -#endif // LIDAR_CENTERPOINT__CUDA_UTILS_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__CUDA_UTILS_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/detection_class_remapper.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/detection_class_remapper.hpp similarity index 82% rename from perception/lidar_centerpoint/include/lidar_centerpoint/detection_class_remapper.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/detection_class_remapper.hpp index d961dd998af76..6748444c05a96 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/detection_class_remapper.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/detection_class_remapper.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_ -#define LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_ #include @@ -24,7 +24,7 @@ #include -namespace centerpoint +namespace autoware::lidar_centerpoint { class DetectionClassRemapper @@ -42,6 +42,6 @@ class DetectionClassRemapper int num_labels_; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/network/network_trt.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/network_trt.hpp similarity index 75% rename from perception/lidar_centerpoint/include/lidar_centerpoint/network/network_trt.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/network_trt.hpp index 1bf77248efe08..17778d77ed798 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/network/network_trt.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/network_trt.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_ -#define LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_ -#include "lidar_centerpoint/centerpoint_config.hpp" -#include "lidar_centerpoint/network/tensorrt_wrapper.hpp" +#include "autoware/lidar_centerpoint/centerpoint_config.hpp" +#include "autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp" #include -namespace centerpoint +namespace autoware::lidar_centerpoint { class VoxelEncoderTRT : public TensorRTWrapper { @@ -48,6 +48,6 @@ class HeadTRT : public TensorRTWrapper std::vector out_channel_sizes_; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/network/scatter_kernel.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/scatter_kernel.hpp similarity index 77% rename from perception/lidar_centerpoint/include/lidar_centerpoint/network/scatter_kernel.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/scatter_kernel.hpp index ad5e222ce01e8..d943d704b75fd 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/network/scatter_kernel.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/scatter_kernel.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_ -#define LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_ #include "cuda.h" #include "cuda_runtime_api.h" -namespace centerpoint +namespace autoware::lidar_centerpoint { cudaError_t scatterFeatures_launch( const float * pillar_features, const int * coords, const unsigned int * num_pillars, @@ -26,6 +26,6 @@ cudaError_t scatterFeatures_launch( const std::size_t grid_size_x, const std::size_t grid_size_y, float * scattered_features, cudaStream_t stream); -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/network/tensorrt_wrapper.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp similarity index 83% rename from perception/lidar_centerpoint/include/lidar_centerpoint/network/tensorrt_wrapper.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp index 4af5aac7ff7fe..1d731b5d819d7 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/network/tensorrt_wrapper.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_ -#define LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_ #include "NvInfer.h" -#include "lidar_centerpoint/centerpoint_config.hpp" +#include "autoware/lidar_centerpoint/centerpoint_config.hpp" #include "tensorrt_common/tensorrt_common.hpp" #include #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { class TensorRTWrapper @@ -62,6 +62,6 @@ class TensorRTWrapper tensorrt_common::TrtUniquePtr engine_{nullptr}; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/node.hpp similarity index 84% rename from perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/node.hpp index 154ff97cdb887..eb056ed14c57f 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/node.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__NODE_HPP_ -#define LIDAR_CENTERPOINT__NODE_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__NODE_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__NODE_HPP_ -#include "lidar_centerpoint/centerpoint_trt.hpp" -#include "lidar_centerpoint/detection_class_remapper.hpp" -#include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp" +#include "autoware/lidar_centerpoint/centerpoint_trt.hpp" +#include "autoware/lidar_centerpoint/detection_class_remapper.hpp" +#include "autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp" #include #include @@ -34,7 +34,7 @@ #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { class LidarCenterPointNode : public rclcpp::Node @@ -69,6 +69,6 @@ class LidarCenterPointNode : public rclcpp::Node std::unique_ptr published_time_publisher_; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__NODE_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__NODE_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/postprocess/circle_nms_kernel.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/circle_nms_kernel.hpp similarity index 72% rename from perception/lidar_centerpoint/include/lidar_centerpoint/postprocess/circle_nms_kernel.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/circle_nms_kernel.hpp index 5b55636a3eec4..463e97c2a8e4e 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/postprocess/circle_nms_kernel.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/circle_nms_kernel.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ -#define LIDAR_CENTERPOINT__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ -#include "lidar_centerpoint/utils.hpp" +#include "autoware/lidar_centerpoint/utils.hpp" #include "thrust/device_vector.h" -namespace 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. @@ -26,6 +26,6 @@ std::size_t circleNMS( thrust::device_vector & boxes3d, const float distance_threshold, thrust::device_vector & keep_mask, cudaStream_t stream); -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__CIRCLE_NMS_KERNEL_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/postprocess/non_maximum_suppression.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp similarity index 83% rename from perception/lidar_centerpoint/include/lidar_centerpoint/postprocess/non_maximum_suppression.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp index 3cefe7ddf3335..57abd053af718 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/postprocess/non_maximum_suppression.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ -#define LIDAR_CENTERPOINT__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ -#include "lidar_centerpoint/ros_utils.hpp" +#include "autoware/lidar_centerpoint/ros_utils.hpp" #include @@ -24,7 +24,7 @@ #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { using autoware_perception_msgs::msg::DetectedObject; @@ -76,6 +76,6 @@ class NonMaximumSuppression std::vector target_class_mask_{}; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__NON_MAXIMUM_SUPPRESSION_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/postprocess/postprocess_kernel.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/postprocess_kernel.hpp similarity index 74% rename from perception/lidar_centerpoint/include/lidar_centerpoint/postprocess/postprocess_kernel.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/postprocess_kernel.hpp index e15d3022c947c..4792fed3e9362 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/postprocess/postprocess_kernel.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/postprocess_kernel.hpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ -#define LIDAR_CENTERPOINT__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ +#include "autoware/lidar_centerpoint/centerpoint_config.hpp" +#include "autoware/lidar_centerpoint/utils.hpp" #include "cuda.h" #include "cuda_runtime_api.h" -#include "lidar_centerpoint/centerpoint_config.hpp" -#include "lidar_centerpoint/utils.hpp" #include "thrust/device_vector.h" #include -namespace centerpoint +namespace autoware::lidar_centerpoint { class PostProcessCUDA { @@ -41,6 +41,6 @@ class PostProcessCUDA thrust::device_vector yaw_norm_thresholds_d_; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__POSTPROCESS__POSTPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/pointcloud_densification.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/pointcloud_densification.hpp similarity index 87% rename from perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/pointcloud_densification.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/pointcloud_densification.hpp index c1d6a6b060955..67c0d34a0e729 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/pointcloud_densification.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/pointcloud_densification.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ -#define LIDAR_CENTERPOINT__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -27,9 +27,9 @@ #include "tf2_sensor_msgs/tf2_sensor_msgs.hpp" #endif -#include "lidar_centerpoint/cuda_utils.hpp" +#include "autoware/lidar_centerpoint/cuda_utils.hpp" -namespace centerpoint +namespace autoware::lidar_centerpoint { class DensificationParam { @@ -89,6 +89,6 @@ class PointCloudDensification std::list pointcloud_cache_; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__POINTCLOUD_DENSIFICATION_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/preprocess_kernel.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/preprocess_kernel.hpp similarity index 86% rename from perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/preprocess_kernel.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/preprocess_kernel.hpp index 3abcd89cb5c55..5a39f4e8d1103 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/preprocess_kernel.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/preprocess_kernel.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__PREPROCESS__PREPROCESS_KERNEL_HPP_ -#define LIDAR_CENTERPOINT__PREPROCESS__PREPROCESS_KERNEL_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__PREPROCESS_KERNEL_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__PREPROCESS_KERNEL_HPP_ #include "cuda.h" #include "cuda_runtime_api.h" -namespace 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 centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__PREPROCESS__PREPROCESS_KERNEL_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__PREPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/voxel_generator.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp similarity index 77% rename from perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/voxel_generator.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp index 3ade5e677cdbe..66384d192ae43 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/preprocess/voxel_generator.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__PREPROCESS__VOXEL_GENERATOR_HPP_ -#define LIDAR_CENTERPOINT__PREPROCESS__VOXEL_GENERATOR_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__VOXEL_GENERATOR_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__VOXEL_GENERATOR_HPP_ -#include "lidar_centerpoint/centerpoint_config.hpp" -#include "lidar_centerpoint/preprocess/pointcloud_densification.hpp" +#include "autoware/lidar_centerpoint/centerpoint_config.hpp" +#include "autoware/lidar_centerpoint/preprocess/pointcloud_densification.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" #include #include -namespace 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 centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__PREPROCESS__VOXEL_GENERATOR_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__PREPROCESS__VOXEL_GENERATOR_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/ros_utils.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/ros_utils.hpp similarity index 80% rename from perception/lidar_centerpoint/include/lidar_centerpoint/ros_utils.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/ros_utils.hpp index 484fbcfd36657..de901b06e83c3 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/ros_utils.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/ros_utils.hpp @@ -12,19 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__ROS_UTILS_HPP_ -#define LIDAR_CENTERPOINT__ROS_UTILS_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__ROS_UTILS_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__ROS_UTILS_HPP_ // ros packages cannot be included from cuda. -#include "lidar_centerpoint/utils.hpp" +#include "autoware/lidar_centerpoint/utils.hpp" #include "autoware_perception_msgs/msg/detected_objects.hpp" #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { void box3DToDetectedObject( @@ -39,6 +39,6 @@ std::array convertTwistCovarianceMatrix(const Box3D & box3d); bool isCarLikeVehicleLabel(const uint8_t label); -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__ROS_UTILS_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__ROS_UTILS_HPP_ diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/utils.hpp similarity index 83% rename from perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp rename to perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/utils.hpp index f3dd30f754989..9dfb451125b6a 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/utils.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LIDAR_CENTERPOINT__UTILS_HPP_ -#define LIDAR_CENTERPOINT__UTILS_HPP_ +#ifndef AUTOWARE__LIDAR_CENTERPOINT__UTILS_HPP_ +#define AUTOWARE__LIDAR_CENTERPOINT__UTILS_HPP_ #include -namespace 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 centerpoint +} // namespace autoware::lidar_centerpoint -#endif // LIDAR_CENTERPOINT__UTILS_HPP_ +#endif // AUTOWARE__LIDAR_CENTERPOINT__UTILS_HPP_ diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml similarity index 85% rename from perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml rename to perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml index 950dfa7f5b290..639502d52806a 100644 --- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml +++ b/perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml @@ -5,7 +5,7 @@ - + @@ -15,7 +15,7 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp b/perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp similarity index 96% rename from perception/lidar_centerpoint/lib/centerpoint_trt.cpp rename to perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp index 5040028d1bd94..a1706d1f5601d 100644 --- a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp +++ b/perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/centerpoint_trt.hpp" +#include "autoware/lidar_centerpoint/centerpoint_trt.hpp" -#include "lidar_centerpoint/centerpoint_config.hpp" -#include "lidar_centerpoint/network/scatter_kernel.hpp" -#include "lidar_centerpoint/preprocess/preprocess_kernel.hpp" +#include "autoware/lidar_centerpoint/centerpoint_config.hpp" +#include "autoware/lidar_centerpoint/network/scatter_kernel.hpp" +#include "autoware/lidar_centerpoint/preprocess/preprocess_kernel.hpp" #include @@ -25,7 +25,7 @@ #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { CenterPointTRT::CenterPointTRT( const NetworkParam & encoder_param, const NetworkParam & head_param, @@ -200,4 +200,4 @@ void CenterPointTRT::postProcess(std::vector & det_boxes3d) } } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/detection_class_remapper.cpp b/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp similarity index 94% rename from perception/lidar_centerpoint/lib/detection_class_remapper.cpp rename to perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp index 9805fc7a661d1..80c842f8746a4 100644 --- a/perception/lidar_centerpoint/lib/detection_class_remapper.cpp +++ b/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/detection_class_remapper.hpp" +#include "autoware/lidar_centerpoint/detection_class_remapper.hpp" -namespace centerpoint +namespace autoware::lidar_centerpoint { void DetectionClassRemapper::setParameters( @@ -68,4 +68,4 @@ void DetectionClassRemapper::mapClasses(autoware_perception_msgs::msg::DetectedO } } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/network/network_trt.cpp b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp similarity index 95% rename from perception/lidar_centerpoint/lib/network/network_trt.cpp rename to perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp index ad1a7ae90630c..e7484b21d2fd2 100644 --- a/perception/lidar_centerpoint/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/network/network_trt.hpp" +#include "autoware/lidar_centerpoint/network/network_trt.hpp" -namespace centerpoint +namespace autoware::lidar_centerpoint { bool VoxelEncoderTRT::setProfile( nvinfer1::IBuilder & builder, nvinfer1::INetworkDefinition & network, @@ -79,4 +79,4 @@ bool HeadTRT::setProfile( return true; } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/network/scatter_kernel.cu b/perception/autoware_lidar_centerpoint/lib/network/scatter_kernel.cu similarity index 92% rename from perception/lidar_centerpoint/lib/network/scatter_kernel.cu rename to perception/autoware_lidar_centerpoint/lib/network/scatter_kernel.cu index f139e230426ca..7b226a8e7bac0 100644 --- a/perception/lidar_centerpoint/lib/network/scatter_kernel.cu +++ b/perception/autoware_lidar_centerpoint/lib/network/scatter_kernel.cu @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/network/scatter_kernel.hpp" -#include "lidar_centerpoint/utils.hpp" +#include "autoware/lidar_centerpoint/network/scatter_kernel.hpp" +#include "autoware/lidar_centerpoint/utils.hpp" namespace { const std::size_t THREADS_PER_BLOCK = 32; } // namespace -namespace 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 centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp b/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp similarity index 97% rename from perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp rename to perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp index bdfde42a12a02..9e926aa29846d 100644 --- a/perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp +++ b/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/network/tensorrt_wrapper.hpp" +#include "autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp" #include "NvOnnxParser.h" @@ -20,7 +20,7 @@ #include #include -namespace 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 centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu b/perception/autoware_lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu similarity index 94% rename from perception/lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu rename to perception/autoware_lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu index c208eefe135fb..63a7d1625f66a 100644 --- a/perception/lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu +++ b/perception/autoware_lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu @@ -21,9 +21,9 @@ Written by Shaoshuai Shi All Rights Reserved 2019-2020. */ -#include "lidar_centerpoint/cuda_utils.hpp" -#include "lidar_centerpoint/postprocess/circle_nms_kernel.hpp" -#include "lidar_centerpoint/utils.hpp" +#include "autoware/lidar_centerpoint/cuda_utils.hpp" +#include "autoware/lidar_centerpoint/postprocess/circle_nms_kernel.hpp" +#include "autoware/lidar_centerpoint/utils.hpp" #include "thrust/host_vector.h" namespace @@ -31,7 +31,7 @@ namespace const std::size_t THREADS_PER_BLOCK_NMS = 16; } // namespace -namespace 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 centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp similarity index 95% rename from perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp rename to perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp index 16f4fc89bbcd6..f7dd85b019250 100644 --- a/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp" +#include "autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp" #include #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { void NonMaximumSuppression::setParameters(const NMSParams & params) @@ -101,4 +101,4 @@ std::vector NonMaximumSuppression::apply( return output_objects; } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu b/perception/autoware_lidar_centerpoint/lib/postprocess/postprocess_kernel.cu similarity index 97% rename from perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu rename to perception/autoware_lidar_centerpoint/lib/postprocess/postprocess_kernel.cu index 12835bab038a6..e1af8f36eb082 100644 --- a/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu +++ b/perception/autoware_lidar_centerpoint/lib/postprocess/postprocess_kernel.cu @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/postprocess/circle_nms_kernel.hpp" -#include "lidar_centerpoint/postprocess/postprocess_kernel.hpp" +#include "autoware/lidar_centerpoint/postprocess/circle_nms_kernel.hpp" +#include "autoware/lidar_centerpoint/postprocess/postprocess_kernel.hpp" #include "thrust/count.h" #include "thrust/device_vector.h" #include "thrust/sort.h" @@ -23,7 +23,7 @@ namespace const std::size_t THREADS_PER_BLOCK = 32; } // namespace -namespace centerpoint +namespace autoware::lidar_centerpoint { struct is_score_greater @@ -192,4 +192,4 @@ cudaError_t PostProcessCUDA::generateDetectedBoxes3D_launch( return cudaGetLastError(); } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/preprocess/pointcloud_densification.cpp b/perception/autoware_lidar_centerpoint/lib/preprocess/pointcloud_densification.cpp similarity index 95% rename from perception/lidar_centerpoint/lib/preprocess/pointcloud_densification.cpp rename to perception/autoware_lidar_centerpoint/lib/preprocess/pointcloud_densification.cpp index 2859d58d8f669..066bc5d995228 100644 --- a/perception/lidar_centerpoint/lib/preprocess/pointcloud_densification.cpp +++ b/perception/autoware_lidar_centerpoint/lib/preprocess/pointcloud_densification.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/preprocess/pointcloud_densification.hpp" +#include "autoware/lidar_centerpoint/preprocess/pointcloud_densification.hpp" #include "pcl_conversions/pcl_conversions.h" #include "pcl_ros/transforms.hpp" @@ -53,7 +53,7 @@ Eigen::Affine3f transformToEigen(const geometry_msgs::msg::Transform & t) } // namespace -namespace centerpoint +namespace autoware::lidar_centerpoint { PointCloudDensification::PointCloudDensification(const DensificationParam & param) : param_(param) { @@ -111,4 +111,4 @@ void PointCloudDensification::dequeue() } } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu b/perception/autoware_lidar_centerpoint/lib/preprocess/preprocess_kernel.cu similarity index 98% rename from perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu rename to perception/autoware_lidar_centerpoint/lib/preprocess/preprocess_kernel.cu index 4e78176739c26..84d519cddf04c 100644 --- a/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu +++ b/perception/autoware_lidar_centerpoint/lib/preprocess/preprocess_kernel.cu @@ -28,9 +28,9 @@ * limitations under the License. */ -#include "lidar_centerpoint/cuda_utils.hpp" -#include "lidar_centerpoint/preprocess/preprocess_kernel.hpp" -#include "lidar_centerpoint/utils.hpp" +#include "autoware/lidar_centerpoint/cuda_utils.hpp" +#include "autoware/lidar_centerpoint/preprocess/preprocess_kernel.hpp" +#include "autoware/lidar_centerpoint/utils.hpp" #include @@ -41,7 +41,7 @@ const std::size_t WARPS_PER_BLOCK = 4; const std::size_t ENCODER_IN_FEATURE_SIZE = 9; // the same as encoder_in_feature_size_ in config } // namespace -namespace centerpoint +namespace autoware::lidar_centerpoint { __global__ void generateSweepPoints_kernel( @@ -305,4 +305,4 @@ cudaError_t generateFeatures_launch( return cudaGetLastError(); } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp b/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp similarity index 91% rename from perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp rename to perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp index 8e91c3b0b36cc..86dc03719ca8e 100644 --- a/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp +++ b/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/preprocess/voxel_generator.hpp" +#include "autoware/lidar_centerpoint/preprocess/voxel_generator.hpp" -#include "lidar_centerpoint/centerpoint_trt.hpp" -#include "lidar_centerpoint/preprocess/preprocess_kernel.hpp" +#include "autoware/lidar_centerpoint/centerpoint_trt.hpp" +#include "autoware/lidar_centerpoint/preprocess/preprocess_kernel.hpp" #include "sensor_msgs/point_cloud2_iterator.hpp" #include -namespace centerpoint +namespace autoware::lidar_centerpoint { VoxelGeneratorTemplate::VoxelGeneratorTemplate( const DensificationParam & param, const CenterPointConfig & config) @@ -81,4 +81,4 @@ std::size_t VoxelGenerator::generateSweepPoints(float * points_d, cudaStream_t s return point_counter; } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/ros_utils.cpp b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp similarity index 97% rename from perception/lidar_centerpoint/lib/ros_utils.cpp rename to perception/autoware_lidar_centerpoint/lib/ros_utils.cpp index 039d340cc2dc4..d7fc0aef204be 100644 --- a/perception/lidar_centerpoint/lib/ros_utils.cpp +++ b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/ros_utils.hpp" +#include "autoware/lidar_centerpoint/ros_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/constants.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" -namespace centerpoint +namespace autoware::lidar_centerpoint { using Label = autoware_perception_msgs::msg::ObjectClassification; @@ -120,4 +120,4 @@ std::array convertTwistCovarianceMatrix(const Box3D & box3d) return twist_covariance; } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/lib/utils.cpp b/perception/autoware_lidar_centerpoint/lib/utils.cpp similarity index 87% rename from perception/lidar_centerpoint/lib/utils.cpp rename to perception/autoware_lidar_centerpoint/lib/utils.cpp index b6e0a54ab6de9..a9e7a68f6adaa 100644 --- a/perception/lidar_centerpoint/lib/utils.cpp +++ b/perception/autoware_lidar_centerpoint/lib/utils.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/utils.hpp" +#include "autoware/lidar_centerpoint/utils.hpp" #include -namespace centerpoint +namespace autoware::lidar_centerpoint { // cspell: ignore divup std::size_t divup(const std::size_t a, const std::size_t b) @@ -31,4 +31,4 @@ std::size_t divup(const std::size_t a, const std::size_t b) return (a + b - 1) / b; } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint diff --git a/perception/lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml similarity index 90% rename from perception/lidar_centerpoint/package.xml rename to perception/autoware_lidar_centerpoint/package.xml index 4c6fa471c297a..07f67f7e3c11e 100644 --- a/perception/lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -1,9 +1,9 @@ - lidar_centerpoint + autoware_lidar_centerpoint 1.0.0 - The lidar_centerpoint package + The autoware_lidar_centerpoint package Kenzo Lobos-Tsunekawa Koji Minoda Apache License 2.0 diff --git a/perception/lidar_centerpoint/schema/centerpoint.schemal.json b/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json similarity index 100% rename from perception/lidar_centerpoint/schema/centerpoint.schemal.json rename to perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json diff --git a/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json b/perception/autoware_lidar_centerpoint/schema/centerpoint_ml_package.schema.json similarity index 100% rename from perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json rename to perception/autoware_lidar_centerpoint/schema/centerpoint_ml_package.schema.json diff --git a/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json b/perception/autoware_lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json similarity index 100% rename from perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json rename to perception/autoware_lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/autoware_lidar_centerpoint/src/node.cpp similarity index 94% rename from perception/lidar_centerpoint/src/node.cpp rename to perception/autoware_lidar_centerpoint/src/node.cpp index 53554d0a3becf..5b92e5c811a23 100644 --- a/perception/lidar_centerpoint/src/node.cpp +++ b/perception/autoware_lidar_centerpoint/src/node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/node.hpp" +#include "autoware/lidar_centerpoint/node.hpp" #include "pcl_ros/transforms.hpp" @@ -29,12 +29,12 @@ #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" #endif -#include "lidar_centerpoint/centerpoint_config.hpp" -#include "lidar_centerpoint/preprocess/pointcloud_densification.hpp" -#include "lidar_centerpoint/ros_utils.hpp" -#include "lidar_centerpoint/utils.hpp" +#include "autoware/lidar_centerpoint/centerpoint_config.hpp" +#include "autoware/lidar_centerpoint/preprocess/pointcloud_densification.hpp" +#include "autoware/lidar_centerpoint/ros_utils.hpp" +#include "autoware/lidar_centerpoint/utils.hpp" -namespace centerpoint +namespace autoware::lidar_centerpoint { LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_options) : Node("lidar_center_point", node_options), tf_buffer_(this->get_clock()) @@ -191,7 +191,7 @@ void LidarCenterPointNode::pointCloudCallback( } } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint #include -RCLCPP_COMPONENTS_REGISTER_NODE(centerpoint::LidarCenterPointNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lidar_centerpoint::LidarCenterPointNode) diff --git a/perception/lidar_centerpoint/test/test_detection_class_remapper.cpp b/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp similarity index 96% rename from perception/lidar_centerpoint/test/test_detection_class_remapper.cpp rename to perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp index 565b258535462..48642bf7227dc 100644 --- a/perception/lidar_centerpoint/test/test_detection_class_remapper.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include TEST(DetectionClassRemapperTest, MapClasses) { - centerpoint::DetectionClassRemapper remapper; + autoware::lidar_centerpoint::DetectionClassRemapper remapper; // Set up the parameters for the remapper // Labels: CAR, TRUCK, TRAILER diff --git a/perception/lidar_centerpoint/test/test_nms.cpp b/perception/autoware_lidar_centerpoint/test/test_nms.cpp similarity index 92% rename from perception/lidar_centerpoint/test/test_nms.cpp rename to perception/autoware_lidar_centerpoint/test/test_nms.cpp index 601871ff57ed7..4a59d4dba98bf 100644 --- a/perception/lidar_centerpoint/test/test_nms.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_nms.cpp @@ -12,21 +12,21 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp" +#include "autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp" #include TEST(NonMaximumSuppressionTest, Apply) { - centerpoint::NonMaximumSuppression nms; - centerpoint::NMSParams params; + autoware::lidar_centerpoint::NonMaximumSuppression nms; + autoware::lidar_centerpoint::NMSParams params; params.search_distance_2d_ = 1.0; params.iou_threshold_ = 0.2; - params.nms_type_ = centerpoint::NMS_TYPE::IoU_BEV; + params.nms_type_ = autoware::lidar_centerpoint::NMS_TYPE::IoU_BEV; params.target_class_names_ = {"CAR"}; nms.setParameters(params); - std::vector input_objects(4); + std::vector input_objects(4); // Object 1 autoware_perception_msgs::msg::ObjectClassification obj1_classification; @@ -88,7 +88,8 @@ TEST(NonMaximumSuppressionTest, Apply) input_objects[3].shape.dimensions.x = 0.5; input_objects[3].shape.dimensions.y = 0.5; - std::vector output_objects = nms.apply(input_objects); + std::vector output_objects = + nms.apply(input_objects); // Assert the expected number of output objects EXPECT_EQ(output_objects.size(), 3); diff --git a/perception/lidar_centerpoint/test/test_postprocess_kernel.cpp b/perception/autoware_lidar_centerpoint/test/test_postprocess_kernel.cpp similarity index 98% rename from perception/lidar_centerpoint/test/test_postprocess_kernel.cpp rename to perception/autoware_lidar_centerpoint/test/test_postprocess_kernel.cpp index e75aff416b8aa..baa87a914b363 100644 --- a/perception/lidar_centerpoint/test/test_postprocess_kernel.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_postprocess_kernel.cpp @@ -20,7 +20,7 @@ #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { void PostprocessKernelTest::SetUp() @@ -39,7 +39,7 @@ void PostprocessKernelTest::SetUp() const std::vector yaw_norm_thresholds{0.5, 0.5, 0.5}; constexpr bool has_variance{false}; - config_ptr_ = std::make_unique( + config_ptr_ = std::make_unique( class_size, point_feature_size, max_voxel_size, point_cloud_range, voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, yaw_norm_thresholds, has_variance); @@ -358,7 +358,7 @@ TEST_F(PostprocessKernelTest, CircleNMSTest) ASSERT_EQ(1, det_boxes3d.size()); } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint int main(int argc, char ** argv) { diff --git a/perception/lidar_centerpoint/test/test_postprocess_kernel.hpp b/perception/autoware_lidar_centerpoint/test/test_postprocess_kernel.hpp similarity index 81% rename from perception/lidar_centerpoint/test/test_postprocess_kernel.hpp rename to perception/autoware_lidar_centerpoint/test/test_postprocess_kernel.hpp index 8f35b98119afe..40596a12e83cc 100644 --- a/perception/lidar_centerpoint/test/test_postprocess_kernel.hpp +++ b/perception/autoware_lidar_centerpoint/test/test_postprocess_kernel.hpp @@ -15,14 +15,14 @@ #ifndef TEST_POSTPROCESS_KERNEL_HPP_ #define TEST_POSTPROCESS_KERNEL_HPP_ -#include -#include +#include +#include #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { class PostprocessKernelTest : public testing::Test @@ -34,7 +34,7 @@ class PostprocessKernelTest : public testing::Test cudaStream_t stream_{}; std::unique_ptr postprocess_cuda_ptr_{}; - std::unique_ptr config_ptr_{}; + std::unique_ptr config_ptr_{}; cuda::unique_ptr head_out_heatmap_d_{}; cuda::unique_ptr head_out_offset_d_{}; @@ -44,6 +44,6 @@ class PostprocessKernelTest : public testing::Test cuda::unique_ptr head_out_vel_d_{}; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint #endif // TEST_POSTPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_centerpoint/test/test_preprocess_kernel.cpp b/perception/autoware_lidar_centerpoint/test/test_preprocess_kernel.cpp similarity index 97% rename from perception/lidar_centerpoint/test/test_preprocess_kernel.cpp rename to perception/autoware_lidar_centerpoint/test/test_preprocess_kernel.cpp index db75328f9d5c5..b311ae6ddf85c 100644 --- a/perception/lidar_centerpoint/test/test_preprocess_kernel.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_preprocess_kernel.cpp @@ -14,7 +14,7 @@ #include "test_preprocess_kernel.hpp" -#include +#include #include #include @@ -24,7 +24,7 @@ #include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { void PreprocessKernelTest::SetUp() @@ -101,7 +101,7 @@ TEST_F(PreprocessKernelTest, EmptyVoxelTest) points_d_.get(), points.data(), points_num * point_feature_size_ * sizeof(float), cudaMemcpyHostToDevice)); - cudaError_t code = centerpoint::generateVoxels_random_launch( + cudaError_t code = autoware::lidar_centerpoint::generateVoxels_random_launch( points_d_.get(), points_num, range_min_x_, range_max_x_, range_min_y_, range_max_y_, range_min_z_, range_max_z_, voxel_size_x_, voxel_size_y_, voxel_size_z_, grid_size_y_, grid_size_x_, mask_d_.get(), voxels_buffer_d_.get(), stream_); @@ -127,7 +127,7 @@ TEST_F(PreprocessKernelTest, BasicTest) points_d_.get(), points.data(), points_num * point_feature_size_ * sizeof(float), cudaMemcpyHostToDevice)); - cudaError_t code = centerpoint::generateVoxels_random_launch( + cudaError_t code = autoware::lidar_centerpoint::generateVoxels_random_launch( points_d_.get(), points_num, range_min_x_, range_max_x_, range_min_y_, range_max_y_, range_min_z_, range_max_z_, voxel_size_x_, voxel_size_y_, voxel_size_z_, grid_size_y_, grid_size_x_, mask_d_.get(), voxels_buffer_d_.get(), stream_); @@ -242,7 +242,7 @@ TEST_F(PreprocessKernelTest, OutOfRangeTest) points_d_.get(), points.data(), points_num * point_feature_size_ * sizeof(float), cudaMemcpyHostToDevice)); - cudaError_t code = centerpoint::generateVoxels_random_launch( + cudaError_t code = autoware::lidar_centerpoint::generateVoxels_random_launch( points_d_.get(), points_num, range_min_x_, range_max_x_, range_min_y_, range_max_y_, range_min_z_, range_max_z_, voxel_size_x_, voxel_size_y_, voxel_size_z_, grid_size_y_, grid_size_x_, mask_d_.get(), voxels_buffer_d_.get(), stream_); @@ -275,7 +275,7 @@ TEST_F(PreprocessKernelTest, VoxelOverflowTest) // Note: due to atomic operations in the kernel, generateVoxels does not handle overflows in the // counter, and instead is done in the following kernel - cudaError_t code = centerpoint::generateVoxels_random_launch( + cudaError_t code = autoware::lidar_centerpoint::generateVoxels_random_launch( points_d_.get(), points_num, range_min_x_, range_max_x_, range_min_y_, range_max_y_, range_min_z_, range_max_z_, voxel_size_x_, voxel_size_y_, voxel_size_z_, grid_size_y_, grid_size_x_, mask_d_.get(), voxels_buffer_d_.get(), stream_); @@ -394,7 +394,7 @@ TEST_F(PreprocessKernelTest, VoxelOverflowTest) } } -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint int main(int argc, char ** argv) { diff --git a/perception/lidar_centerpoint/test/test_preprocess_kernel.hpp b/perception/autoware_lidar_centerpoint/test/test_preprocess_kernel.hpp similarity index 94% rename from perception/lidar_centerpoint/test/test_preprocess_kernel.hpp rename to perception/autoware_lidar_centerpoint/test/test_preprocess_kernel.hpp index 1a3e850026886..ebf9dd36a360e 100644 --- a/perception/lidar_centerpoint/test/test_preprocess_kernel.hpp +++ b/perception/autoware_lidar_centerpoint/test/test_preprocess_kernel.hpp @@ -15,11 +15,11 @@ #ifndef TEST_PREPROCESS_KERNEL_HPP_ #define TEST_PREPROCESS_KERNEL_HPP_ -#include +#include #include -namespace centerpoint +namespace autoware::lidar_centerpoint { class PreprocessKernelTest : public testing::Test @@ -74,6 +74,6 @@ class PreprocessKernelTest : public testing::Test cuda::unique_ptr num_voxels_d_{}; }; -} // namespace centerpoint +} // namespace autoware::lidar_centerpoint #endif // TEST_PREPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_centerpoint/test/test_ros_utils.cpp b/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp similarity index 75% rename from perception/lidar_centerpoint/test/test_ros_utils.cpp rename to perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp index 6044a3b6e77c9..555d820ec3644 100644 --- a/perception/lidar_centerpoint/test/test_ros_utils.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "lidar_centerpoint/ros_utils.hpp" +#include "autoware/lidar_centerpoint/ros_utils.hpp" #include @@ -23,7 +23,7 @@ TEST(TestSuite, box3DToDetectedObject) // Test case 1: Test with valid label, has_twist=true, has_variance=true { - centerpoint::Box3D box3d; + autoware::lidar_centerpoint::Box3D box3d; box3d.score = 0.8f; box3d.label = 0; // CAR box3d.x = 1.0; @@ -43,7 +43,7 @@ TEST(TestSuite, box3DToDetectedObject) box3d.vel_y_variance = 0.6; autoware_perception_msgs::msg::DetectedObject obj; - centerpoint::box3DToDetectedObject(box3d, class_names, true, true, obj); + autoware::lidar_centerpoint::box3DToDetectedObject(box3d, class_names, true, true, obj); EXPECT_FLOAT_EQ(obj.existence_probability, 0.8f); EXPECT_EQ( @@ -61,12 +61,12 @@ TEST(TestSuite, box3DToDetectedObject) // Test case 2: Test with invalid label, has_twist=false, has_variance=false { - centerpoint::Box3D box3d; + autoware::lidar_centerpoint::Box3D box3d; box3d.score = 0.5f; box3d.label = 10; // Invalid autoware_perception_msgs::msg::DetectedObject obj; - centerpoint::box3DToDetectedObject(box3d, class_names, false, false, obj); + autoware::lidar_centerpoint::box3DToDetectedObject(box3d, class_names, false, false, obj); EXPECT_FLOAT_EQ(obj.existence_probability, 0.5f); EXPECT_EQ( @@ -80,38 +80,41 @@ TEST(TestSuite, box3DToDetectedObject) TEST(TestSuite, getSemanticType) { EXPECT_EQ( - centerpoint::getSemanticType("CAR"), autoware_perception_msgs::msg::ObjectClassification::CAR); + autoware::lidar_centerpoint::getSemanticType("CAR"), + autoware_perception_msgs::msg::ObjectClassification::CAR); EXPECT_EQ( - centerpoint::getSemanticType("TRUCK"), + autoware::lidar_centerpoint::getSemanticType("TRUCK"), autoware_perception_msgs::msg::ObjectClassification::TRUCK); EXPECT_EQ( - centerpoint::getSemanticType("BUS"), autoware_perception_msgs::msg::ObjectClassification::BUS); + autoware::lidar_centerpoint::getSemanticType("BUS"), + autoware_perception_msgs::msg::ObjectClassification::BUS); EXPECT_EQ( - centerpoint::getSemanticType("TRAILER"), + autoware::lidar_centerpoint::getSemanticType("TRAILER"), autoware_perception_msgs::msg::ObjectClassification::TRAILER); EXPECT_EQ( - centerpoint::getSemanticType("BICYCLE"), + autoware::lidar_centerpoint::getSemanticType("BICYCLE"), autoware_perception_msgs::msg::ObjectClassification::BICYCLE); EXPECT_EQ( - centerpoint::getSemanticType("MOTORBIKE"), + autoware::lidar_centerpoint::getSemanticType("MOTORBIKE"), autoware_perception_msgs::msg::ObjectClassification::MOTORCYCLE); EXPECT_EQ( - centerpoint::getSemanticType("PEDESTRIAN"), + autoware::lidar_centerpoint::getSemanticType("PEDESTRIAN"), autoware_perception_msgs::msg::ObjectClassification::PEDESTRIAN); EXPECT_EQ( - centerpoint::getSemanticType("UNKNOWN"), + autoware::lidar_centerpoint::getSemanticType("UNKNOWN"), autoware_perception_msgs::msg::ObjectClassification::UNKNOWN); } TEST(TestSuite, convertPoseCovarianceMatrix) { - centerpoint::Box3D box3d; + autoware::lidar_centerpoint::Box3D box3d; box3d.x_variance = 0.1; box3d.y_variance = 0.2; box3d.z_variance = 0.3; box3d.yaw_variance = 0.4; - std::array pose_covariance = centerpoint::convertPoseCovarianceMatrix(box3d); + std::array pose_covariance = + autoware::lidar_centerpoint::convertPoseCovarianceMatrix(box3d); EXPECT_FLOAT_EQ(pose_covariance[0], 0.1); EXPECT_FLOAT_EQ(pose_covariance[7], 0.2); @@ -121,11 +124,12 @@ TEST(TestSuite, convertPoseCovarianceMatrix) TEST(TestSuite, convertTwistCovarianceMatrix) { - centerpoint::Box3D box3d; + autoware::lidar_centerpoint::Box3D box3d; box3d.vel_x_variance = 0.1; box3d.vel_y_variance = 0.2; - std::array twist_covariance = centerpoint::convertTwistCovarianceMatrix(box3d); + std::array twist_covariance = + autoware::lidar_centerpoint::convertTwistCovarianceMatrix(box3d); EXPECT_FLOAT_EQ(twist_covariance[0], 0.1); EXPECT_FLOAT_EQ(twist_covariance[7], 0.2); diff --git a/perception/lidar_centerpoint/test/test_voxel_generator.cpp b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp similarity index 93% rename from perception/lidar_centerpoint/test/test_voxel_generator.cpp rename to perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp index 6bded105536dc..aa55ac9a4a340 100644 --- a/perception/lidar_centerpoint/test/test_voxel_generator.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp @@ -107,14 +107,14 @@ TEST_F(VoxelGeneratorTest, SingleFrame) { const unsigned int num_past_frames = 0; // only current frame - centerpoint::DensificationParam param(world_frame_, num_past_frames); + autoware::lidar_centerpoint::DensificationParam param(world_frame_, num_past_frames); - centerpoint::CenterPointConfig config( + autoware::lidar_centerpoint::CenterPointConfig config( class_size_, point_feature_size_, max_voxel_size_, point_cloud_range_, voxel_size_, downsample_factor_, encoder_in_feature_size_, score_threshold_, circle_nms_dist_threshold_, yaw_norm_thresholds_, has_variance_); - centerpoint::VoxelGenerator voxel_generator(param, config); + autoware::lidar_centerpoint::VoxelGenerator voxel_generator(param, config); std::vector points; points.resize(capacity_ * config.point_feature_size_); std::fill(points.begin(), points.end(), std::nan("")); @@ -154,14 +154,14 @@ TEST_F(VoxelGeneratorTest, TwoFramesNoTf) { const unsigned int num_past_frames = 1; - centerpoint::DensificationParam param(world_frame_, num_past_frames); + autoware::lidar_centerpoint::DensificationParam param(world_frame_, num_past_frames); - centerpoint::CenterPointConfig config( + autoware::lidar_centerpoint::CenterPointConfig config( class_size_, point_feature_size_, max_voxel_size_, point_cloud_range_, voxel_size_, downsample_factor_, encoder_in_feature_size_, score_threshold_, circle_nms_dist_threshold_, yaw_norm_thresholds_, has_variance_); - centerpoint::VoxelGenerator voxel_generator(param, config); + autoware::lidar_centerpoint::VoxelGenerator voxel_generator(param, config); std::vector points; points.resize(capacity_ * config.point_feature_size_); std::fill(points.begin(), points.end(), std::nan("")); @@ -188,14 +188,14 @@ TEST_F(VoxelGeneratorTest, TwoFrames) { const unsigned int num_past_frames = 1; - centerpoint::DensificationParam param(world_frame_, num_past_frames); + autoware::lidar_centerpoint::DensificationParam param(world_frame_, num_past_frames); - centerpoint::CenterPointConfig config( + autoware::lidar_centerpoint::CenterPointConfig config( class_size_, point_feature_size_, max_voxel_size_, point_cloud_range_, voxel_size_, downsample_factor_, encoder_in_feature_size_, score_threshold_, circle_nms_dist_threshold_, yaw_norm_thresholds_, has_variance_); - centerpoint::VoxelGenerator voxel_generator(param, config); + autoware::lidar_centerpoint::VoxelGenerator voxel_generator(param, config); std::vector points; points.resize(capacity_ * config.point_feature_size_); std::fill(points.begin(), points.end(), std::nan("")); diff --git a/perception/lidar_centerpoint/test/test_voxel_generator.hpp b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.hpp similarity index 88% rename from perception/lidar_centerpoint/test/test_voxel_generator.hpp rename to perception/autoware_lidar_centerpoint/test/test_voxel_generator.hpp index 48355b8a331ba..8f17e58ff22bc 100644 --- a/perception/lidar_centerpoint/test/test_voxel_generator.hpp +++ b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.hpp @@ -15,7 +15,7 @@ #ifndef TEST_VOXEL_GENERATOR_HPP_ #define TEST_VOXEL_GENERATOR_HPP_ -#include +#include #include #include @@ -38,8 +38,8 @@ class VoxelGeneratorTest : public testing::Test std::unique_ptr cloud1_{}, cloud2_{}; geometry_msgs::msg::TransformStamped transform1_{}, transform2_{}; - std::unique_ptr densification_param_ptr_{}; - std::unique_ptr config_ptr_{}; + std::unique_ptr densification_param_ptr_{}; + std::unique_ptr config_ptr_{}; std::unique_ptr tf2_buffer_{}; diff --git a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp index 964624614ec57..aa3e3fe096306 100644 --- a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp @@ -17,12 +17,12 @@ #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 "autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp" #include #include -#include -#include +#include +#include #include #include @@ -71,8 +71,8 @@ class PointPaintingFusionNode bool has_variance_{false}; bool has_twist_{false}; - centerpoint::NonMaximumSuppression iou_bev_nms_; - centerpoint::DetectionClassRemapper detection_class_remapper_; + autoware::lidar_centerpoint::NonMaximumSuppression iou_bev_nms_; + autoware::lidar_centerpoint::DetectionClassRemapper detection_class_remapper_; std::unique_ptr detector_ptr_{nullptr}; diff --git a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp index 845db88467c15..35cfe48d15343 100644 --- a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointcloud_densification.hpp @@ -23,7 +23,7 @@ #include #endif -#include +#include #include #include @@ -40,7 +40,7 @@ struct PointCloudWithTransform class PointCloudDensification { public: - explicit PointCloudDensification(const centerpoint::DensificationParam & param); + explicit PointCloudDensification(const autoware::lidar_centerpoint::DensificationParam & param); bool enqueuePointCloud( const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const tf2_ros::Buffer & tf_buffer); @@ -61,7 +61,7 @@ class PointCloudDensification void enqueue(const sensor_msgs::msg::PointCloud2 & msg, const Eigen::Affine3f & affine); void dequeue(); - centerpoint::DensificationParam param_; + autoware::lidar_centerpoint::DensificationParam param_; double current_timestamp_{0.0}; Eigen::Affine3f affine_world2current_; std::list pointcloud_cache_; diff --git a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp index daf925c2ff9f3..a89ee3d02cd8b 100644 --- a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp @@ -16,22 +16,23 @@ #define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__POINTPAINTING_TRT_HPP_ #include -#include +#include #include #include namespace autoware::image_projection_based_fusion { -class PointPaintingTRT : public centerpoint::CenterPointTRT +class PointPaintingTRT : public autoware::lidar_centerpoint::CenterPointTRT { public: - using centerpoint::CenterPointTRT::CenterPointTRT; + using autoware::lidar_centerpoint::CenterPointTRT::CenterPointTRT; explicit PointPaintingTRT( - const centerpoint::NetworkParam & encoder_param, const centerpoint::NetworkParam & head_param, - const centerpoint::DensificationParam & densification_param, - const centerpoint::CenterPointConfig & config); + const autoware::lidar_centerpoint::NetworkParam & encoder_param, + const autoware::lidar_centerpoint::NetworkParam & head_param, + const autoware::lidar_centerpoint::DensificationParam & densification_param, + const autoware::lidar_centerpoint::CenterPointConfig & config); protected: bool preprocess( diff --git a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp index f303a98824ece..e314ea0aed5e7 100644 --- a/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp +++ b/perception/image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp @@ -16,8 +16,8 @@ #define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__VOXEL_GENERATOR_HPP_ #include -#include -#include +#include +#include #include #include @@ -30,7 +30,8 @@ class VoxelGenerator { public: explicit VoxelGenerator( - const centerpoint::DensificationParam & param, const centerpoint::CenterPointConfig & config); + const autoware::lidar_centerpoint::DensificationParam & param, + const autoware::lidar_centerpoint::CenterPointConfig & config); bool enqueuePointCloud( const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const tf2_ros::Buffer & tf_buffer); @@ -40,7 +41,7 @@ class VoxelGenerator protected: std::unique_ptr pd_ptr_{nullptr}; - centerpoint::CenterPointConfig config_; + autoware::lidar_centerpoint::CenterPointConfig config_; std::array range_; std::array grid_size_; std::array recip_voxel_size_; diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml index 924e4c2b446b6..6d4a6b0de8d16 100644 --- a/perception/image_projection_based_fusion/package.xml +++ b/perception/image_projection_based_fusion/package.xml @@ -17,13 +17,13 @@ autoware_cmake autoware_euclidean_cluster + autoware_lidar_centerpoint autoware_perception_msgs autoware_point_types autoware_universe_utils cv_bridge image_geometry image_transport - lidar_centerpoint message_filters object_recognition_utils rclcpp diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp index af6901f8988b3..be14d9a0b0fb3 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -18,12 +18,12 @@ #include #include +#include +#include +#include +#include #include #include -#include -#include -#include -#include #include #include @@ -167,8 +167,8 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt allow_remapping_by_area_matrix, min_area_matrix, max_area_matrix); { - centerpoint::NMSParams p; - p.nms_type_ = centerpoint::NMS_TYPE::IoU_BEV; + autoware::lidar_centerpoint::NMSParams p; + p.nms_type_ = autoware::lidar_centerpoint::NMS_TYPE::IoU_BEV; p.target_class_names_ = this->declare_parameter>( "post_process_params.iou_nms_target_class_names"); p.search_distance_2d_ = @@ -177,11 +177,13 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt iou_bev_nms_.setParameters(p); } - centerpoint::NetworkParam encoder_param(encoder_onnx_path, encoder_engine_path, trt_precision); - centerpoint::NetworkParam head_param(head_onnx_path, head_engine_path, trt_precision); - centerpoint::DensificationParam densification_param( + autoware::lidar_centerpoint::NetworkParam encoder_param( + encoder_onnx_path, encoder_engine_path, trt_precision); + autoware::lidar_centerpoint::NetworkParam head_param( + head_onnx_path, head_engine_path, trt_precision); + autoware::lidar_centerpoint::DensificationParam densification_param( densification_world_frame_id, densification_num_past_frames); - centerpoint::CenterPointConfig config( + autoware::lidar_centerpoint::CenterPointConfig config( class_names_.size(), point_feature_size, cloud_capacity, max_voxel_size, pointcloud_range, voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, yaw_norm_thresholds, has_variance_); @@ -389,7 +391,7 @@ void PointPaintingFusionNode::postprocess(sensor_msgs::msg::PointCloud2 & painte return; } - std::vector det_boxes3d; + std::vector det_boxes3d; bool is_success = detector_ptr_->detect(painted_pointcloud_msg, tf_buffer_, det_boxes3d); if (!is_success) { return; diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointcloud_densification.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointcloud_densification.cpp index 291baa392ecbc..390d92abae3b4 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointcloud_densification.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointcloud_densification.cpp @@ -56,7 +56,8 @@ Eigen::Affine3f transformToEigen(const geometry_msgs::msg::Transform & t) namespace autoware::image_projection_based_fusion { -PointCloudDensification::PointCloudDensification(const centerpoint::DensificationParam & param) +PointCloudDensification::PointCloudDensification( + const autoware::lidar_centerpoint::DensificationParam & param) : param_(param) { } diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp index 59c747c8f1cfa..cc3eb17cc32ab 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp @@ -15,9 +15,9 @@ #include "autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp" #include +#include +#include #include -#include -#include #include #include @@ -27,10 +27,12 @@ namespace autoware::image_projection_based_fusion { PointPaintingTRT::PointPaintingTRT( - const centerpoint::NetworkParam & encoder_param, const centerpoint::NetworkParam & head_param, - const centerpoint::DensificationParam & densification_param, - const centerpoint::CenterPointConfig & config) -: centerpoint::CenterPointTRT(encoder_param, head_param, densification_param, config) + const autoware::lidar_centerpoint::NetworkParam & encoder_param, + const autoware::lidar_centerpoint::NetworkParam & head_param, + const autoware::lidar_centerpoint::DensificationParam & densification_param, + const autoware::lidar_centerpoint::CenterPointConfig & config) +: autoware::lidar_centerpoint::CenterPointTRT( + encoder_param, head_param, densification_param, config) { vg_ptr_pp_ = std::make_unique(densification_param, config_); diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu b/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu index 82ab7e954fad1..91804f0df8665 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu @@ -31,7 +31,7 @@ #include "autoware/image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp" #include -// #include +// #include namespace { diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp index b0c6d0f888b08..205d231ab32bd 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp @@ -20,7 +20,8 @@ namespace autoware::image_projection_based_fusion { VoxelGenerator::VoxelGenerator( - const centerpoint::DensificationParam & param, const centerpoint::CenterPointConfig & config) + const autoware::lidar_centerpoint::DensificationParam & param, + const autoware::lidar_centerpoint::CenterPointConfig & config) : config_(config) { pd_ptr_ = std::make_unique(param);