chore: apply ktro2828/autoware_mtr

Signed-off-by: ktro2828 <[email protected]>

perception/autoware_mtr/.gitignore

@@ -0,0 +1,51 @@
+devel/
+logs/
+build/
+bin/
+msg_gen/
+srv_gen/
+data/*onnx
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

perception/autoware_mtr/.markdownlint.yaml

@@ -0,0 +1,16 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
+default: true
+MD013: false
+MD024:
+  siblings_only: true
+MD029:
+  style: ordered
+MD033: false
+MD041: false
+MD045: false
+MD046: false
+MD049: false

perception/autoware_mtr/.pre-commit-config-optional.yaml

@@ -0,0 +1,6 @@
+repos:
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.12.2
+    hooks:
+      - id: markdown-link-check
+        args: [--quiet, --config=.markdown-link-check.json]

perception/autoware_mtr/.pre-commit-config.yaml

@@ -0,0 +1,95 @@
+ci:
+  autofix_commit_msg: "style(pre-commit): autofix"
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+        args: [--unsafe]
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        args: [--markdown-linebreak-ext=md]
+
+  - repo: https://github.com/igorshubovych/markdownlint-cli
+    rev: v0.41.0
+    hooks:
+      - id: markdownlint
+        args: [-c, .markdownlint.yaml, --fix]
+
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: v4.0.0-alpha.8
+    hooks:
+      - id: prettier
+
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.35.1
+    hooks:
+      - id: yamllint
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: flake8-ros
+      - id: prettier-xacro
+      - id: prettier-launch-xml
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
+
+  - repo: https://github.com/shellcheck-py/shellcheck-py
+    rev: v0.10.0.1
+    hooks:
+      - id: shellcheck
+
+  - repo: https://github.com/scop/pre-commit-shfmt
+    rev: v3.9.0-1
+    hooks:
+      - id: shfmt
+        args: [-w, -s, -i=4]
+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+
+  - repo: https://github.com/psf/black
+    rev: 24.8.0
+    hooks:
+      - id: black
+        args: [--line-length=100]
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.8
+    hooks:
+      - id: clang-format
+        types_or: [c++, c, cuda]
+
+  - repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+      - id: cpplint
+        args: [--quiet]
+        exclude: .cu
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.29.2
+    hooks:
+      - id: check-metaschema
+        files: ^.+/schema/.*schema\.json$
+
+  - repo: local
+    hooks:
+      - id: prettier-svg
+        name: prettier svg
+        description: Apply Prettier with plugin-xml to svg.
+        entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore
+        language: node
+        files: .svg$
+        additional_dependencies: [[email protected], "@prettier/[email protected]"]

perception/autoware_mtr/CMakeLists.txt

@@ -55,6 +55,9 @@ target_include_directories(${PROJECT_NAME}_cuda_lib PUBLIC
 ament_auto_add_library(${PROJECT_NAME}_lib SHARED
   src/builder.cpp
   src/trt_mtr.cpp
+  src/conversions/lanelet.cpp
+  src/intention_point.cpp
+  src/conversions/history.cpp
 )
 target_link_libraries(${PROJECT_NAME}_lib
   ${TRT_PLUGINS}
@@ -90,6 +93,7 @@ rclcpp_components_register_node(${PROJECT_NAME}_node
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_auto_add_gtest(test_fixed_queue test/test_fixed_queue.cpp)
 endif()
 
 ament_auto_package(

perception/autoware_mtr/LICENSE

@@ -1,4 +1,3 @@
-
                                  Apache License
                            Version 2.0, January 2004
                         http://www.apache.org/licenses/

perception/autoware_mtr/README.md

@@ -1 +1,72 @@
-# Motion TRansformer (MTR)
+# autoware_mtr
+
+## Purpose
+
+The `autoware_mtr` package is used for 3D object motion prediction based on ML-based model called MTR.
+
+## Inner-workings / Algorithms
+
+The implementation bases on MTR [1] work. It uses TensorRT library for data process and network interface.
+
+## Inputs / Outputs
+
+### Input
+
+| Name                 | Type                                            | Description              |
+| -------------------- | ----------------------------------------------- | ------------------------ |
+| `~/input/objects`    | `autoware_perception_msgs::msg::TrackedObjects` | Input agent state.       |
+| `~/input/vector_map` | `autoware_map_msgs::msg::LeneletMapBin`         | Input vector map.        |
+| `~/input/ego`        | `sensor_msgs::msg::Odometry`                    | Input ego vehicle state. |
+
+### Output
+
+| Name               | Type                                              | Description                |
+| ------------------ | ------------------------------------------------- | -------------------------- |
+| `~/output/objects` | `autoware_perception_msgs::msg::PredictedObjects` | Predicted objects' motion. |
+
+## Parameters
+
+Following parameters can be specified in `.launch.xml` or command line.
+
+### `param_path`
+
+File path to the MTR configuration. (Default: `autoware_mtr/config/mtr.param.yaml`)
+
+### Configuration Parameters
+
+#### `model_params`
+
+| Name                          |  type   | Description                                                 |
+| :---------------------------- | :-----: | :---------------------------------------------------------- |
+| `model_path`                  |  `str`  | ONNX or engine file path.                                   |
+| `target_labels`               | `str[]` | An array of label names to be predicted.                    |
+| `num_past`                    |  `int`  | The number of history length.                               |
+| `num_mode`                    |  `int`  | The number of predicted modes.                              |
+| `num_future`                  |  `int`  | The number of predicted future length.                      |
+| `max_num_polyline`            |  `int`  | The maximum number of polylines to be contained in input.   |
+| `max_num_point`               |  `int`  | The maximum number of points included in a single polyline. |
+| `point_break_distance`        | `float` | Distance threshold to separate points into two polylines.   |
+| `intention_point_filepath`    |  `str`  | File path to intension points (.csv).                       |
+| `num_intention_point_cluster` |  `int`  | The number of clusters of intention points.                 |
+
+#### `build_params`
+
+| Name         |  type  | Description                                                 |
+| :----------- | :----: | :---------------------------------------------------------- |
+| `is_dynamic` | `bool` | Indicates whether the model allows dynamic shape inference. |
+| `precision`  | `str`  | Precision mode.                                             |
+| `MINMAX`     | `str`  | Calibration mode.                                           |
+
+### `data_path`
+
+Directory path to ONNX or TensorRT engine file. (Default: `autoware_mtr/data`)
+
+### `build_only`
+
+This option performs to build the TensorRT engine file from the ONNX file and exit after finishing it. (Default: `false`)
+
+You can execute with the following command:
+
+```bash
+ros2 launch autoware_mtr mtr.launch.xml build_only:=true
+```

perception/autoware_mtr/config/mtr.param.yaml

@@ -11,10 +11,6 @@
       point_break_distance: 1.0
       intention_point_filepath: "$(var data_path)/intention_point.csv"
       num_intention_point_cluster: 64
-      polyline_label_path: "$(var data_path)/polyline_label.txt"
-      static_inference:
-        num_target: 2
-        num_agent: 7
     build_params:
       is_dynamic: false
       precision: "FP32"