diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 0a7a3920b5f51..26d86e98018c3 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -51,7 +51,7 @@ evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@ evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp evaluator/localization_evaluator/** anh.nguyen.2@tier4.jp dominik.jargot@robotec.ai koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp +evaluator/autoware_perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp junya.sasaki@tier4.jp evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp diff --git a/evaluator/perception_online_evaluator/CHANGELOG.rst b/evaluator/autoware_perception_online_evaluator/CHANGELOG.rst similarity index 100% rename from evaluator/perception_online_evaluator/CHANGELOG.rst rename to evaluator/autoware_perception_online_evaluator/CHANGELOG.rst diff --git a/evaluator/autoware_perception_online_evaluator/CMakeLists.txt b/evaluator/autoware_perception_online_evaluator/CMakeLists.txt new file mode 100644 index 0000000000000..cddc59e1a91c6 --- /dev/null +++ b/evaluator/autoware_perception_online_evaluator/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_perception_online_evaluator) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(pluginlib REQUIRED) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/metrics_calculator.cpp + src/perception_online_evaluator_node.cpp + src/metrics/deviation_metrics.cpp + src/metrics/detection_count.cpp + src/utils/marker_utils.cpp + src/utils/objects_filtering.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::perception_diagnostics::PerceptionOnlineEvaluatorNode" + EXECUTABLE ${PROJECT_NAME}_node +) + +target_link_libraries(${PROJECT_NAME} glog::glog) + +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_perception_online_evaluator_node + test/test_perception_online_evaluator_node.cpp + TIMEOUT 300 + ) + target_link_libraries(test_perception_online_evaluator_node + ${PROJECT_NAME} + ) +endif() + +ament_auto_package( + INSTALL_TO_SHARE + param + launch +) diff --git a/evaluator/perception_online_evaluator/README.md b/evaluator/autoware_perception_online_evaluator/README.md similarity index 100% rename from evaluator/perception_online_evaluator/README.md rename to evaluator/autoware_perception_online_evaluator/README.md diff --git a/evaluator/perception_online_evaluator/images/detection_counts.drawio.svg b/evaluator/autoware_perception_online_evaluator/images/detection_counts.drawio.svg similarity index 100% rename from evaluator/perception_online_evaluator/images/detection_counts.drawio.svg rename to evaluator/autoware_perception_online_evaluator/images/detection_counts.drawio.svg diff --git a/evaluator/perception_online_evaluator/images/lateral_deviation.drawio.svg b/evaluator/autoware_perception_online_evaluator/images/lateral_deviation.drawio.svg similarity index 100% rename from evaluator/perception_online_evaluator/images/lateral_deviation.drawio.svg rename to evaluator/autoware_perception_online_evaluator/images/lateral_deviation.drawio.svg diff --git a/evaluator/perception_online_evaluator/images/path_deviation.drawio.svg b/evaluator/autoware_perception_online_evaluator/images/path_deviation.drawio.svg similarity index 100% rename from evaluator/perception_online_evaluator/images/path_deviation.drawio.svg rename to evaluator/autoware_perception_online_evaluator/images/path_deviation.drawio.svg diff --git a/evaluator/perception_online_evaluator/images/path_deviation_each_object.drawio.svg b/evaluator/autoware_perception_online_evaluator/images/path_deviation_each_object.drawio.svg similarity index 100% rename from evaluator/perception_online_evaluator/images/path_deviation_each_object.drawio.svg rename to evaluator/autoware_perception_online_evaluator/images/path_deviation_each_object.drawio.svg diff --git a/evaluator/perception_online_evaluator/images/yaw_deviation.drawio.svg b/evaluator/autoware_perception_online_evaluator/images/yaw_deviation.drawio.svg similarity index 100% rename from evaluator/perception_online_evaluator/images/yaw_deviation.drawio.svg rename to evaluator/autoware_perception_online_evaluator/images/yaw_deviation.drawio.svg diff --git a/evaluator/perception_online_evaluator/images/yaw_rate.drawio.svg b/evaluator/autoware_perception_online_evaluator/images/yaw_rate.drawio.svg similarity index 100% rename from evaluator/perception_online_evaluator/images/yaw_rate.drawio.svg rename to evaluator/autoware_perception_online_evaluator/images/yaw_rate.drawio.svg diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/detection_count.hpp similarity index 92% rename from evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp rename to evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/detection_count.hpp index c111a725a2ea0..33a4353fc5c4a 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp +++ b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/detection_count.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ -#define PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ +#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ +#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ -#include "perception_online_evaluator/parameters.hpp" +#include "autoware/perception_online_evaluator/parameters.hpp" #include "tf2_ros/buffer.h" #include @@ -32,7 +32,7 @@ #include #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { namespace metrics { @@ -143,6 +143,6 @@ class DetectionCounter seen_uuids_; }; } // namespace metrics -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics -#endif // PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ +#endif // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/deviation_metrics.hpp similarity index 81% rename from evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp rename to evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/deviation_metrics.hpp index 0f3379b3f055e..90256ce18110f 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp +++ b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/deviation_metrics.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ -#define PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ +#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ +#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ #include #include #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { namespace metrics { @@ -44,6 +44,6 @@ double calcLateralDeviation(const std::vector & ref_path, const Pose & tar double calcYawDeviation(const std::vector & ref_path, const Pose & target_pose); } // namespace metrics -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics -#endif // PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ +#endif // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/metric.hpp similarity index 90% rename from evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp rename to evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/metric.hpp index 4caf932919e61..c190af8162ebf 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp +++ b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics/metric.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_ -#define PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_ +#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_ +#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_ #include "autoware/universe_utils/math/accumulator.hpp" @@ -23,7 +23,7 @@ #include #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { /** * @brief Enumeration of trajectory metrics @@ -90,6 +90,6 @@ static struct CheckCorrectMaps } check; } // namespace details -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics -#endif // PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_ +#endif // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_ diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics_calculator.hpp similarity index 89% rename from evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp rename to evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics_calculator.hpp index c17051d2a30a7..b59f0a6c32b3d 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp +++ b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/metrics_calculator.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_ -#define PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_ - -#include "perception_online_evaluator/metrics/detection_count.hpp" -#include "perception_online_evaluator/metrics/deviation_metrics.hpp" -#include "perception_online_evaluator/metrics/metric.hpp" -#include "perception_online_evaluator/parameters.hpp" -#include "perception_online_evaluator/utils/objects_filtering.hpp" +#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_ +#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_ + +#include "autoware/perception_online_evaluator/metrics/detection_count.hpp" +#include "autoware/perception_online_evaluator/metrics/deviation_metrics.hpp" +#include "autoware/perception_online_evaluator/metrics/metric.hpp" +#include "autoware/perception_online_evaluator/parameters.hpp" +#include "autoware/perception_online_evaluator/utils/objects_filtering.hpp" #include "tf2_ros/buffer.h" #include @@ -38,7 +38,7 @@ #include #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; @@ -160,6 +160,6 @@ class MetricsCalculator }; // class MetricsCalculator -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics -#endif // PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_ +#endif // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_ diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/parameters.hpp b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/parameters.hpp similarity index 84% rename from evaluator/perception_online_evaluator/include/perception_online_evaluator/parameters.hpp rename to evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/parameters.hpp index b4cf23b85effb..5c53332b0a003 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/parameters.hpp +++ b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/parameters.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_ -#define PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_ +#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_ +#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_ -#include "perception_online_evaluator/metrics/metric.hpp" +#include "autoware/perception_online_evaluator/metrics/metric.hpp" #include #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { /** * @brief Enumeration of perception metrics @@ -64,6 +64,6 @@ struct Parameters std::unordered_map object_parameters; }; -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics -#endif // PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_ +#endif // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_ diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/perception_online_evaluator_node.hpp similarity index 87% rename from evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp rename to evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/perception_online_evaluator_node.hpp index 61c1ba40134df..62e4d14af63e0 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp +++ b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/perception_online_evaluator_node.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_ -#define PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_ +#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_ +#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_ +#include "autoware/perception_online_evaluator/metrics_calculator.hpp" +#include "autoware/perception_online_evaluator/parameters.hpp" #include "autoware/universe_utils/math/accumulator.hpp" -#include "perception_online_evaluator/metrics_calculator.hpp" -#include "perception_online_evaluator/parameters.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -34,7 +34,7 @@ #include #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { using autoware::universe_utils::Accumulator; using autoware_perception_msgs::msg::ObjectClassification; @@ -108,6 +108,6 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node // Debug void publishDebugMarker(); }; -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics -#endif // PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_ +#endif // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_ diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/utils/marker_utils.hpp similarity index 89% rename from evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp rename to evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/utils/marker_utils.hpp index 0ad0872723d55..ad849acd23956 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp +++ b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/utils/marker_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_ -#define PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_ +#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_ +#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_ #include @@ -27,7 +27,7 @@ #include #include -namespace marker_utils +namespace autoware::perception_diagnostics::marker_utils { using autoware::universe_utils::Polygon2d; @@ -77,6 +77,6 @@ MarkerArray createDeviationLines( const std::vector & poses1, const std::vector & poses2, const std::string & ns, const int32_t & first_id, const float r, const float g, const float b); -} // namespace marker_utils +} // namespace autoware::perception_diagnostics::marker_utils -#endif // PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_ +#endif // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_ diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/objects_filtering.hpp b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/utils/objects_filtering.hpp similarity index 94% rename from evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/objects_filtering.hpp rename to evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/utils/objects_filtering.hpp index 7adab46f42d2f..4220284b243f9 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/objects_filtering.hpp +++ b/evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/utils/objects_filtering.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_ -#define PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_ +#ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_ +#define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_ -#include "perception_online_evaluator/parameters.hpp" +#include "autoware/perception_online_evaluator/parameters.hpp" #include #include @@ -31,7 +31,7 @@ * most of this file is copied from objects_filtering.hpp in safety_check of behavior_path_planner */ -namespace perception_diagnostics +namespace autoware::perception_diagnostics { using autoware_perception_msgs::msg::ObjectClassification; @@ -170,6 +170,6 @@ PredictedObjects filterObjectsByVelocity( PredictedObjects filterObjectsByVelocity( const PredictedObjects & objects, double velocity_threshold, double max_velocity); -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics -#endif // PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_ +#endif // AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_ diff --git a/evaluator/perception_online_evaluator/launch/perception_online_evaluator.launch.xml b/evaluator/autoware_perception_online_evaluator/launch/perception_online_evaluator.launch.xml similarity index 63% rename from evaluator/perception_online_evaluator/launch/perception_online_evaluator.launch.xml rename to evaluator/autoware_perception_online_evaluator/launch/perception_online_evaluator.launch.xml index fc045da0302b7..5fedb030c62eb 100644 --- a/evaluator/perception_online_evaluator/launch/perception_online_evaluator.launch.xml +++ b/evaluator/autoware_perception_online_evaluator/launch/perception_online_evaluator.launch.xml @@ -3,8 +3,8 @@ - - + + diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/autoware_perception_online_evaluator/package.xml similarity index 93% rename from evaluator/perception_online_evaluator/package.xml rename to evaluator/autoware_perception_online_evaluator/package.xml index 94575a0adbb4c..198ef5fae247c 100644 --- a/evaluator/perception_online_evaluator/package.xml +++ b/evaluator/autoware_perception_online_evaluator/package.xml @@ -1,7 +1,7 @@ - perception_online_evaluator + autoware_perception_online_evaluator 0.40.0 ROS 2 node for evaluating perception Fumiya Watanabe @@ -10,6 +10,7 @@ Kyoichi Sugahara Shunsuke Miura Yoshi Ri + Junya Sasaki Apache License 2.0 Kosuke Takeuchi diff --git a/evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml b/evaluator/autoware_perception_online_evaluator/param/perception_online_evaluator.defaults.yaml similarity index 100% rename from evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml rename to evaluator/autoware_perception_online_evaluator/param/perception_online_evaluator.defaults.yaml diff --git a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp b/evaluator/autoware_perception_online_evaluator/src/metrics/detection_count.cpp similarity index 97% rename from evaluator/perception_online_evaluator/src/metrics/detection_count.cpp rename to evaluator/autoware_perception_online_evaluator/src/metrics/detection_count.cpp index 1bbfb9e3ee963..3245a80dd7ff5 100644 --- a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp +++ b/evaluator/autoware_perception_online_evaluator/src/metrics/detection_count.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "perception_online_evaluator/metrics/detection_count.hpp" +#include "autoware/perception_online_evaluator/metrics/detection_count.hpp" #include "autoware/object_recognition_utils/object_recognition_utils.hpp" +#include "autoware/perception_online_evaluator/utils/objects_filtering.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "perception_online_evaluator/utils/objects_filtering.hpp" #include @@ -25,7 +25,7 @@ #include #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { namespace metrics { @@ -236,4 +236,4 @@ void DetectionCounter::purgeOldRecords(rclcpp::Time current_time) } } } // namespace metrics -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics diff --git a/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/autoware_perception_online_evaluator/src/metrics/deviation_metrics.cpp similarity index 90% rename from evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp rename to evaluator/autoware_perception_online_evaluator/src/metrics/deviation_metrics.cpp index 292fc9cd65a17..9aa8632ec7f51 100644 --- a/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp +++ b/evaluator/autoware_perception_online_evaluator/src/metrics/deviation_metrics.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "perception_online_evaluator/metrics/deviation_metrics.hpp" +#include "autoware/perception_online_evaluator/metrics/deviation_metrics.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/geometry/pose_deviation.hpp" @@ -21,7 +21,7 @@ #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { namespace metrics { @@ -50,4 +50,4 @@ double calcYawDeviation(const std::vector & ref_path, const Pose & target_ } } // namespace metrics -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics diff --git a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp b/evaluator/autoware_perception_online_evaluator/src/metrics_calculator.cpp similarity index 99% rename from evaluator/perception_online_evaluator/src/metrics_calculator.cpp rename to evaluator/autoware_perception_online_evaluator/src/metrics_calculator.cpp index 0ced0b9d6c8a8..0243e0c7edbbb 100644 --- a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp +++ b/evaluator/autoware_perception_online_evaluator/src/metrics_calculator.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "perception_online_evaluator/metrics_calculator.hpp" +#include "autoware/perception_online_evaluator/metrics_calculator.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/object_recognition_utils/object_classification.hpp" @@ -21,7 +21,7 @@ #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { using autoware::object_recognition_utils::convertLabelToString; using autoware::universe_utils::inverseTransformPoint; @@ -686,4 +686,4 @@ std::vector MetricsCalculator::averageFilterPath( return filtered_path; } -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/autoware_perception_online_evaluator/src/perception_online_evaluator_node.cpp similarity index 97% rename from evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp rename to evaluator/autoware_perception_online_evaluator/src/perception_online_evaluator_node.cpp index 7d8344c24819c..4a02745b6ad99 100644 --- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp +++ b/evaluator/autoware_perception_online_evaluator/src/perception_online_evaluator_node.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "perception_online_evaluator/perception_online_evaluator_node.hpp" +#include "autoware/perception_online_evaluator/perception_online_evaluator_node.hpp" +#include "autoware/perception_online_evaluator/utils/marker_utils.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" #include "autoware/universe_utils/ros/parameter.hpp" #include "autoware/universe_utils/ros/update_param.hpp" -#include "perception_online_evaluator/utils/marker_utils.hpp" #include @@ -33,7 +33,7 @@ #include #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode( const rclcpp::NodeOptions & node_options) @@ -382,7 +382,7 @@ void PerceptionOnlineEvaluatorNode::initParameter() getOrDeclareParameter(*this, ns + "object_polygon"); } } -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics #include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(perception_diagnostics::PerceptionOnlineEvaluatorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::perception_diagnostics::PerceptionOnlineEvaluatorNode) diff --git a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp b/evaluator/autoware_perception_online_evaluator/src/utils/marker_utils.cpp similarity index 97% rename from evaluator/perception_online_evaluator/src/utils/marker_utils.cpp rename to evaluator/autoware_perception_online_evaluator/src/utils/marker_utils.cpp index 7489447ccb47e..154ca23e9c0cf 100644 --- a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp +++ b/evaluator/autoware_perception_online_evaluator/src/utils/marker_utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "perception_online_evaluator/utils/marker_utils.hpp" +#include "autoware/perception_online_evaluator/utils/marker_utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" @@ -29,7 +29,7 @@ #include #include -namespace marker_utils +namespace autoware::perception_diagnostics::marker_utils { using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createDefaultMarker; @@ -197,4 +197,4 @@ MarkerArray createObjectPolygonMarkerArray( return msg; } -} // namespace marker_utils +} // namespace autoware::perception_diagnostics::marker_utils diff --git a/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp b/evaluator/autoware_perception_online_evaluator/src/utils/objects_filtering.cpp similarity index 95% rename from evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp rename to evaluator/autoware_perception_online_evaluator/src/utils/objects_filtering.cpp index 13bd820f18cec..10ad8915da061 100644 --- a/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp +++ b/evaluator/autoware_perception_online_evaluator/src/utils/objects_filtering.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "perception_online_evaluator/utils/objects_filtering.hpp" +#include "autoware/perception_online_evaluator/utils/objects_filtering.hpp" #include #include -namespace perception_diagnostics +namespace autoware::perception_diagnostics { namespace filter { @@ -102,4 +102,4 @@ PredictedObjects filterObjectsByVelocity( filterObjects(filtered, filter); return filtered; } -} // namespace perception_diagnostics +} // namespace autoware::perception_diagnostics diff --git a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp b/evaluator/autoware_perception_online_evaluator/test/test_perception_online_evaluator_node.cpp similarity index 99% rename from evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp rename to evaluator/autoware_perception_online_evaluator/test/test_perception_online_evaluator_node.cpp index ffefee835f933..9faf680767db8 100644 --- a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp +++ b/evaluator/autoware_perception_online_evaluator/test/test_perception_online_evaluator_node.cpp @@ -16,8 +16,8 @@ #include "rclcpp/time.hpp" #include +#include #include -#include #include #include @@ -36,7 +36,7 @@ #include #include -using EvalNode = perception_diagnostics::PerceptionOnlineEvaluatorNode; +using EvalNode = autoware::perception_diagnostics::PerceptionOnlineEvaluatorNode; using PredictedObjects = autoware_perception_msgs::msg::PredictedObjects; using PredictedObject = autoware_perception_msgs::msg::PredictedObject; using MarkerArray = visualization_msgs::msg::MarkerArray; @@ -57,7 +57,7 @@ class EvalTest : public ::testing::Test rclcpp::NodeOptions options; const auto share_dir = - ament_index_cpp::get_package_share_directory("perception_online_evaluator"); + ament_index_cpp::get_package_share_directory("autoware_perception_online_evaluator"); options.arguments( {"--ros-args", "--params-file", share_dir + "/param/perception_online_evaluator.defaults.yaml"}); @@ -126,9 +126,9 @@ class EvalTest : public ::testing::Test tf_pub_->publish(tf_msg); } - void setTargetMetric(const perception_diagnostics::Metric & metric) + void setTargetMetric(const autoware::perception_diagnostics::Metric & metric) { - const auto metric_str = perception_diagnostics::metric_to_str.at(metric); + const auto metric_str = autoware::perception_diagnostics::metric_to_str.at(metric); setTargetMetric(metric_str); } diff --git a/evaluator/perception_online_evaluator/CMakeLists.txt b/evaluator/perception_online_evaluator/CMakeLists.txt deleted file mode 100644 index b323d07a882e8..0000000000000 --- a/evaluator/perception_online_evaluator/CMakeLists.txt +++ /dev/null @@ -1,44 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(perception_online_evaluator) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(pluginlib REQUIRED) - -ament_auto_add_library(${PROJECT_NAME}_node SHARED - src/metrics_calculator.cpp - src/${PROJECT_NAME}_node.cpp - src/metrics/deviation_metrics.cpp - src/metrics/detection_count.cpp - src/utils/marker_utils.cpp - src/utils/objects_filtering.cpp -) - -rclcpp_components_register_node(${PROJECT_NAME}_node - PLUGIN "perception_diagnostics::PerceptionOnlineEvaluatorNode" - EXECUTABLE ${PROJECT_NAME} -) - -rclcpp_components_register_node(${PROJECT_NAME}_node - PLUGIN "perception_diagnostics::MotionEvaluatorNode" - EXECUTABLE motion_evaluator -) - -target_link_libraries(${PROJECT_NAME}_node glog::glog) - -if(BUILD_TESTING) - ament_add_ros_isolated_gtest(test_${PROJECT_NAME} - test/test_perception_online_evaluator_node.cpp - TIMEOUT 300 - ) - target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME}_node - ) -endif() - -ament_auto_package( - INSTALL_TO_SHARE - param - launch -) diff --git a/evaluator/perception_online_evaluator/launch/motion_evaluator.launch.xml b/evaluator/perception_online_evaluator/launch/motion_evaluator.launch.xml deleted file mode 100644 index 08c4e11126ec1..0000000000000 --- a/evaluator/perception_online_evaluator/launch/motion_evaluator.launch.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - -