Fixed some issues for ROS Noetic

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "pluginlib"]
+	path = pluginlib
+	url = https://github.com/ros/pluginlib

README.md

@@ -18,8 +18,7 @@
 - [x] The great introduction and explanation from _`Computer Vision and Perception for Self-Driving Cars Course`_ **[Youtube link](https://youtu.be/cPOtULagNnI?t=4858)**
 - [x] SFA3D is used for the second course in the _`Udacity Self-Driving Car Engineer Nanodegree Program: Sensor Fusion and Tracking`_ **[GitHub link](https://github.com/udacity/nd013-c2-fusion-starter/tree/b1455b8ff433cb7f537d62e526209738293e7d8b)**
 
-**Update 2020.09.06**: Add `ROS` source code. The great work has been done by [@AhmedARadwan](https://github.com/AhmedARadwan). 
-The implementation is [here](https://github.com/maudzung/SFA3D/tree/ea0222c1b35489dc35d8452c989c4b014e20e0da)
+
 
 ## Demonstration (on a single GTX 1080Ti)
 
@@ -34,7 +33,7 @@ The implementation is [here](https://github.com/maudzung/SFA3D/tree/ea0222c1b354
 The instructions for setting up a virtual environment is [here](https://github.com/maudzung/virtual_environment_python3).
 
 ```shell script
-git clone https://github.com/maudzung/SFA3D.git SFA3D
+git clone https://github.com/maudzung/SFA3D.git --recursive
 cd SFA3D/
 pip install -r requirements.txt
 ```
@@ -119,6 +118,14 @@ tensorboard --logdir=./
 
 - Then go to [http://localhost:6006/](http://localhost:6006/)
 
+## ROS
+
+You can go to the ros directory for necessary instructions and more information.
+
+**Noetic-Support**:
+
+**Update 2020.09.06**: Add `ROS` source code. The great work has been done by [@AhmedARadwan](https://github.com/AhmedARadwan). 
+The implementation is [here](https://github.com/maudzung/SFA3D/tree/ea0222c1b35489dc35d8452c989c4b014e20e0da)
 
 ## Contact
 

ros/detected_objects_visualizer/CHANGELOG.rst

@@ -0,0 +1,53 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package detected_objects_visualizer
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.11.0 (2019-03-21)
+-------------------
+* [fix] Install commands for all the packages (`#1861 <https://github.com/CPFL/Autoware/issues/1861>`_)
+  * Initial fixes to detection, sensing, semantics and utils
+  * fixing wrong filename on install command
+  * Fixes to install commands
+  * Hokuyo fix name
+  * Fix obj db
+  * Obj db include fixes
+  * End of final cleaning sweep
+  * Incorrect command order in runtime manager
+  * Param tempfile not required by runtime_manager
+  * * Fixes to runtime manager install commands
+  * Remove devel directory from catkin, if any
+  * Updated launch files for robosense
+  * Updated robosense
+  * Fix/add missing install (`#1977 <https://github.com/CPFL/Autoware/issues/1977>`_)
+  * Added launch install to lidar_kf_contour_track
+  * Added install to op_global_planner
+  * Added install to way_planner
+  * Added install to op_local_planner
+  * Added install to op_simulation_package
+  * Added install to op_utilities
+  * Added install to sync
+  * * Improved installation script for pointgrey packages
+  * Fixed nodelet error for gmsl cameras
+  * USe install space in catkin as well
+  * add install to catkin
+  * Fix install directives (`#1990 <https://github.com/CPFL/Autoware/issues/1990>`_)
+  * Fixed installation path
+  * Fixed params installation path
+  * Fixed cfg installation path
+  * Delete cache on colcon_release
+* * Fixed launch file link on rtm
+  * display boxes when pose is reliable
+* Contributors: Abraham Monrroy Cano, amc-nu
+
+1.10.0 (2019-01-17)
+-------------------
+* Switch to Apache 2 license (develop branch) (`#1741 <https://github.com/CPFL/Autoware/issues/1741>`_)
+  * Switch to Apache 2
+  * Replace BSD-3 license header with Apache 2 and reassign copyright to the
+  Autoware Foundation.
+  * Update license on Python files
+  * Update copyright years
+  * Add #ifndef/define _POINTS_IMAGE_H\_
+  * Updated license comment
+* change package name to detected_objects_visualizer
+* Contributors: Esteve Fernandez, Yukihiro SAITO

ros/detected_objects_visualizer/CMakeLists.txt

@@ -0,0 +1,96 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(detected_objects_visualizer)
+add_compile_options(-std=c++14)
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        autoware_msgs
+        geometry_msgs
+        sensor_msgs
+        tf
+        visualization_msgs
+        cv_bridge
+        image_transport
+        )
+
+catkin_package(
+        CATKIN_DEPENDS
+        roscpp
+        autoware_msgs
+        geometry_msgs
+        sensor_msgs
+        tf
+        visualization_msgs
+        cv_bridge
+        image_transport
+)
+
+find_package(OpenCV REQUIRED)
+
+find_package(Eigen3 QUIET)
+
+if (NOT EIGEN3_FOUND)
+    find_package(cmake_modules REQUIRED)
+    find_package(Eigen REQUIRED)
+    set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+    set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
+else ()
+    set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif ()
+
+#Rviz Marker visualization
+add_executable(visualize_detected_objects
+        include/visualize_detected_objects.h
+        src/visualize_detected_objects_main.cpp
+        src/visualize_detected_objects.cpp
+        )
+
+target_include_directories(visualize_detected_objects PRIVATE
+        ${OpenCV_INCLUDE_DIR}
+        ${catkin_INCLUDE_DIRS}
+        ${Boost_INCLUDE_DIRS}
+        ${EIGEN3_INCLUDE_DIRS}
+        include
+        )
+
+target_link_libraries(visualize_detected_objects
+        ${OpenCV_LIBRARIES}
+        ${EIGEN3_LIBRARIES}
+        ${catkin_LIBRARIES}
+        )
+
+add_dependencies(visualize_detected_objects
+        ${catkin_EXPORTED_TARGETS}
+        )
+
+
+#Image Rect Visualization
+add_executable(visualize_rects
+        include/visualize_rects.h
+        src/visualize_rects_main.cpp
+        src/visualize_rects.cpp
+        )
+
+target_include_directories(visualize_rects PRIVATE
+        ${OpenCV_INCLUDE_DIR}
+        ${catkin_INCLUDE_DIRS}
+        include
+        )
+
+target_link_libraries(visualize_rects
+        ${OpenCV_LIBRARIES}
+        ${catkin_LIBRARIES}
+        )
+
+add_dependencies(visualize_rects
+        ${catkin_EXPORTED_TARGETS}
+        )
+
+install(TARGETS
+        visualize_detected_objects visualize_rects
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+        )
+install(DIRECTORY models/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models
+        PATTERN ".svn" EXCLUDE)

ros/detected_objects_visualizer/README.md

@@ -0,0 +1,55 @@
+# Detected Object Visualizer
+
+This node interprets the output of each of the perception nodes and creates the corresponding rviz visualization.
+
+## Parameters
+
+Launch file available parameters:
+
+|Parameter| Type| Description|
+----------|-----|--------
+|`marker_display_duration`|*Double*|Time in ms to display the marker. Default `0.1`.|
+|`object_speed_threshold`|*Double* |Speed threshold to display. Default `0.1`.|
+|`arrow_speed_threshold`|*Double*|Arrow speed threshold to display. Default `0.25`.|
+|`label_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[255,255,255,1]`.|
+|`arrow_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[0,255,0,1,0.8]`.|
+|`hull_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[51,204,51,0.8]`.|
+|`box_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[51,128,204,0.8]`.|
+|`centroid_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[77,121,255,0.8]`.|
+
+
+### Subscribed topics
+
+|Topic|Type|Objective|
+------|----|---------
+|`ROS_NAMESPACE/objects`|`autoware_msgs/DetectedObjectArray`|Objects Array topic to visualize|
+
+### Published topics
+
+|Topic|Type|Objective|
+------|----|---------|
+|`ROS_NAMESPACE/objects_markers`|visualization_msgs::MarkerArray|A Label indicating the class and info of the object|
+
+The message includes each of the following namespaces:
+
+|Namespace|Objective|
+|------|---------|
+|`ROS_NAMESPACE/objects_arrows`|An arrow indicating the direction (`Marker::ARROW`)|
+|`ROS_NAMESPACE/objects_hulls`|Convex Hull, the containing polygon (`Marker::LINE_STRIP`)|
+|`ROS_NAMESPACE/objects_boxes`|Bounding box containing the object (`Marker::CUBE`)|
+|`ROS_NAMESPACE/objects_centroids`|Sphere representing the centroid of the object in space (`Marker::SPHERE`)|
+|`ROS_NAMESPACE/objects_mdoels`|Model representing the object in space (`Marker::MESH_RESOURCE`)|
+
+## Notes
+This node is already included in the perception nodes' launch file.
+
+If you need to use it manually, be sure to add the `ROS_NAMESPACE` if using `rosrun`.
+
+For launch files, add the following line to your launch file:
+```xml
+<node pkg="detected_objects_visualizer" type="visualize_detected_objects" name="AN_INSTANCENAME_01"
+          output="screen" ns="ROS_NAMESPACE"/>
+```
+
+i.e. to visualize the output of the `lidar tracker` use `ROS_NAMESPACE=/detection/lidar_tracker` in rosrun or
+`ns="/detection/lidar_tracker"` in the launch file.

ros/detected_objects_visualizer/include/visualize_detected_objects.h

@@ -0,0 +1,91 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ********************
+ *  v1.0: amc-nu (abrahammonrroy@yahoo.com)
+ */
+
+#ifndef _VISUALIZEDETECTEDOBJECTS_H
+#define _VISUALIZEDETECTEDOBJECTS_H
+
+#include <vector>
+#include <string>
+#include <sstream>
+#include <cmath>
+#include <iomanip>
+
+#include <ros/ros.h>
+#include <tf/transform_datatypes.h>
+
+#include <std_msgs/Header.h>
+
+#include <visualization_msgs/MarkerArray.h>
+#include <visualization_msgs/Marker.h>
+
+#include "autoware_msgs/DetectedObject.h"
+#include "autoware_msgs/DetectedObjectArray.h"
+
+#define __APP_NAME__ "visualize_detected_objects"
+
+class VisualizeDetectedObjects
+{
+private:
+  const double arrow_height_;
+  const double label_height_;
+  const double object_max_linear_size_ = 200.;
+  double object_speed_threshold_;
+  double arrow_speed_threshold_;
+  double marker_display_duration_;
+
+  int marker_id_;
+
+  std_msgs::ColorRGBA label_color_, box_color_, hull_color_, arrow_color_, centroid_color_, model_color_;
+
+  std::string input_topic_, ros_namespace_;
+
+  ros::NodeHandle node_handle_;
+  ros::Subscriber subscriber_detected_objects_;
+
+  ros::Publisher publisher_markers_;
+
+  visualization_msgs::MarkerArray ObjectsToLabels(const autoware_msgs::DetectedObjectArray &in_objects);
+
+  visualization_msgs::MarkerArray ObjectsToArrows(const autoware_msgs::DetectedObjectArray &in_objects);
+
+  visualization_msgs::MarkerArray ObjectsToBoxes(const autoware_msgs::DetectedObjectArray &in_objects);
+
+  visualization_msgs::MarkerArray ObjectsToModels(const autoware_msgs::DetectedObjectArray &in_objects);
+
+  visualization_msgs::MarkerArray ObjectsToHulls(const autoware_msgs::DetectedObjectArray &in_objects);
+
+  visualization_msgs::MarkerArray ObjectsToCentroids(const autoware_msgs::DetectedObjectArray &in_objects);
+
+  std::string ColorToString(const std_msgs::ColorRGBA &in_color);
+
+  void DetectedObjectsCallback(const autoware_msgs::DetectedObjectArray &in_objects);
+
+  bool IsObjectValid(const autoware_msgs::DetectedObject &in_object);
+
+  float CheckColor(double value);
+
+  float CheckAlpha(double value);
+
+  std_msgs::ColorRGBA ParseColor(const std::vector<double> &in_color);
+
+public:
+  VisualizeDetectedObjects();
+};
+
+#endif  // _VISUALIZEDETECTEDOBJECTS_H