Revert "chore(build): remove tier4_autoware_utils.hpp perception/ (au…

…towarefoundation#4843)"

This reverts commit ed511b1.

perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp

@@ -19,8 +19,7 @@
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_perception_msgs/msg/traffic_signal_array.hpp>

perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp

@@ -16,6 +16,7 @@
 #define OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>

perception/detected_object_validation/src/object_lanelet_filter.cpp

@@ -15,7 +15,7 @@
 #include "detected_object_filter/object_lanelet_filter.hpp"
 
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/algorithms/disjoint.hpp>

perception/detected_object_validation/src/object_position_filter.cpp

@@ -14,6 +14,8 @@
 
 #include "detected_object_filter/object_position_filter.hpp"
 
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+
 namespace object_position_filter
 {
 ObjectPositionFilterNode::ObjectPositionFilterNode(const rclcpp::NodeOptions & node_options)

perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp

@@ -15,7 +15,7 @@
 #include "obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
 
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <boost/geometry.hpp>
 

perception/detected_object_validation/src/occupancy_grid_based_validator.cpp

@@ -16,7 +16,7 @@
 
 #include <object_recognition_utils/object_classification.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <boost/optional.hpp>
 

perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp

@@ -20,6 +20,7 @@
 #include <euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <shape_estimation/shape_estimator.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>

perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp

@@ -22,6 +22,7 @@
 #include <euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <shape_estimation/shape_estimator.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>

perception/detection_by_tracker/src/detection_by_tracker_core.cpp

@@ -16,9 +16,6 @@
 
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
-
 #include <chrono>
 #include <memory>
 #include <optional>

perception/front_vehicle_velocity_estimator/include/front_vehicle_velocity_estimator/front_vehicle_velocity_estimator.hpp

@@ -19,7 +19,7 @@
 #include "pcl/point_types.h"
 #include "pcl_conversions/pcl_conversions.h"
 #include "rclcpp/logger.hpp"
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
 #include "nav_msgs/msg/odometry.hpp"

perception/front_vehicle_velocity_estimator/src/front_vehicle_velocity_estimator_node/front_vehicle_velocity_estimator.cpp

@@ -14,8 +14,6 @@
 
 #include "front_vehicle_velocity_estimator/front_vehicle_velocity_estimator.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-
 #include <boost/geometry.hpp>
 
 #include <memory>

perception/heatmap_visualizer/src/utils.cpp

@@ -15,8 +15,7 @@
 #include "heatmap_visualizer/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <tf2/utils.h>
 

perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp

@@ -16,7 +16,8 @@
 
 #include "object_recognition_utils/geometry.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+
 namespace centerpoint
 {
 

perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp

@@ -21,16 +21,14 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_object.hpp>
 #include <autoware_auto_perception_msgs/msg/shape.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_object.hpp>
 #include <geometry_msgs/msg/polygon.hpp>
-#include <geometry_msgs/msg/transform.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
 
-#include <tf2/utils.h>
-
 #include <algorithm>
 #include <cmath>
 #include <tuple>

perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp

@@ -20,9 +20,7 @@
 
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>

perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp

@@ -34,9 +34,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 using Label = autoware_auto_perception_msgs::msg::ObjectClassification;
 

perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp

@@ -18,6 +18,8 @@
 
 #include "multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp"
 
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+
 using Label = autoware_auto_perception_msgs::msg::ObjectClassification;
 
 MultipleVehicleTracker::MultipleVehicleTracker(

perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp

@@ -34,9 +34,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 using Label = autoware_auto_perception_msgs::msg::ObjectClassification;
 

perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp

@@ -34,6 +34,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 PassThroughTracker::PassThroughTracker(
   const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object,

perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp

@@ -18,6 +18,8 @@
 
 #include "multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp"
 
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+
 using Label = autoware_auto_perception_msgs::msg::ObjectClassification;
 
 PedestrianAndBicycleTracker::PedestrianAndBicycleTracker(

perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp

@@ -21,9 +21,7 @@
 #include "multi_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>

perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp

@@ -30,9 +30,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 UnknownTracker::UnknownTracker(
   const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object,

perception/object_merger/include/object_association_merger/utils/utils.hpp

@@ -19,6 +19,8 @@
 #ifndef OBJECT_ASSOCIATION_MERGER__UTILS__UTILS_HPP_
 #define OBJECT_ASSOCIATION_MERGER__UTILS__UTILS_HPP_
 
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+
 #include <autoware_auto_perception_msgs/msg/detected_object.hpp>
 #include <autoware_auto_perception_msgs/msg/shape.hpp>
 #include <geometry_msgs/msg/polygon.hpp>

perception/object_merger/src/object_association_merger/node.cpp

@@ -16,7 +16,7 @@
 
 #include "object_association_merger/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include <boost/optional.hpp>
 

perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp

@@ -14,7 +14,7 @@
 
 #include "object_velocity_splitter/object_velocity_splitter_node.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include <memory>
 #include <string>

perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp

@@ -15,9 +15,7 @@
 #include "occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp"
 
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <boost/optional.hpp>
 

perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp

@@ -18,6 +18,7 @@
 #include <builtin_interfaces/msg/time.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>

perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp

@@ -18,6 +18,7 @@
 #include "utils/utils.hpp"
 
 #include <pcl_ros/transforms.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <nav_msgs/msg/occupancy_grid.hpp>
 

perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp

@@ -56,6 +56,7 @@
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 

perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp

@@ -19,7 +19,7 @@
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 

perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp

@@ -20,7 +20,7 @@
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <grid_map_ros/grid_map_ros.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 

perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp

@@ -20,8 +20,7 @@
 #include "utils/utils.hpp"
 
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <nav_msgs/msg/occupancy_grid.hpp>
 

perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp

@@ -14,8 +14,6 @@
 
 #include "utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-
 #include <string>
 
 namespace utils

perception/radar_fusion_to_detected_object/include/radar_fusion_to_detected_object.hpp

@@ -16,7 +16,8 @@
 #define RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
 
 #include "rclcpp/logger.hpp"
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+
 #define EIGEN_MPL2_ONLY
 #include <Eigen/Core>
 #include <Eigen/Geometry>

perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp

@@ -15,9 +15,6 @@
 
 #include "radar_fusion_to_detected_object.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-
 #include <boost/geometry.hpp>
 
 #include <algorithm>

perception/radar_object_clustering/include/radar_object_clustering/radar_object_clustering_node.hpp

@@ -16,6 +16,7 @@
 #define RADAR_OBJECT_CLUSTERING__RADAR_OBJECT_CLUSTERING_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
 

perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp

@@ -15,8 +15,6 @@
 #include "radar_object_clustering/radar_object_clustering_node.hpp"
 
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <tf2/utils.h>
 

perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp

@@ -16,7 +16,7 @@
 #define RADAR_TRACKS_MSGS_CONVERTER__RADAR_TRACKS_MSGS_CONVERTER_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
 #include "autoware_auto_perception_msgs/msg/object_classification.hpp"

perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp

@@ -14,9 +14,7 @@
 
 #include "radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
-#include "tier4_autoware_utils/ros/msg_covariance.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include <tf2/utils.h>
 

perception/shape_estimation/include/shape_estimation/corrector/utils.hpp

@@ -17,6 +17,8 @@
 
 #include "shape_estimation/shape_estimator.hpp"
 
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+
 #include <autoware_auto_perception_msgs/msg/shape.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 

perception/shape_estimation/include/shape_estimation/model/model_interface.hpp

@@ -15,6 +15,8 @@
 #ifndef SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_
 #define SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_
 
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+
 #include <autoware_auto_perception_msgs/msg/shape.hpp>
 #include <geometry_msgs/msg/pose.hpp>