Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

refactor(autoware_point_types): prefix namespace with autoware::point_types #9169

Merged
merged 3 commits into from
Oct 30, 2024
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef AUTOWARE_POINT_TYPES__TYPES_HPP_
#define AUTOWARE_POINT_TYPES__TYPES_HPP_
#ifndef AUTOWARE__POINT_TYPES__TYPES_HPP_
#define AUTOWARE__POINT_TYPES__TYPES_HPP_

#include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>

Expand All @@ -22,7 +22,7 @@
#include <cmath>
#include <tuple>

namespace autoware_point_types
namespace autoware::point_types
{
template <class T>
bool float_eq(const T a, const T b, const T eps = 10e-6)
Expand Down Expand Up @@ -166,23 +166,23 @@ using PointXYZIRCAEDTGenerator = std::tuple<
field_return_type_generator, field_channel_generator, field_azimuth_generator,
field_elevation_generator, field_distance_generator, field_time_stamp_generator>;

} // namespace autoware_point_types
} // namespace autoware::point_types

POINT_CLOUD_REGISTER_POINT_STRUCT(
autoware_point_types::PointXYZIRC,
autoware::point_types::PointXYZIRC,
(float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)(
std::uint8_t, return_type, return_type)(std::uint16_t, channel, channel))

POINT_CLOUD_REGISTER_POINT_STRUCT(
autoware_point_types::PointXYZIRADRT,
autoware::point_types::PointXYZIRADRT,
(float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint16_t, ring, ring)(
float, azimuth, azimuth)(float, distance, distance)(std::uint8_t, return_type, return_type)(
double, time_stamp, time_stamp))

POINT_CLOUD_REGISTER_POINT_STRUCT(
autoware_point_types::PointXYZIRCAEDT,
autoware::point_types::PointXYZIRCAEDT,
(float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)(
std::uint8_t, return_type,
return_type)(std::uint16_t, channel, channel)(float, azimuth, azimuth)(
float, elevation, elevation)(float, distance, distance)(std::uint32_t, time_stamp, time_stamp))
#endif // AUTOWARE_POINT_TYPES__TYPES_HPP_
#endif // AUTOWARE__POINT_TYPES__TYPES_HPP_
22 changes: 11 additions & 11 deletions common/autoware_point_types/test/test_point_types.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -12,15 +12,15 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "autoware_point_types/types.hpp"
#include "autoware/point_types/types.hpp"

#include <gtest/gtest.h>

#include <limits>

TEST(PointEquality, PointXYZI)
{
using autoware_point_types::PointXYZI;
using autoware::point_types::PointXYZI;

PointXYZI pt0{0, 1, 2, 3};
PointXYZI pt1{0, 1, 2, 3};
Expand All @@ -29,7 +29,7 @@ TEST(PointEquality, PointXYZI)

TEST(PointEquality, PointXYZIRADRT)
{
using autoware_point_types::PointXYZIRADRT;
using autoware::point_types::PointXYZIRADRT;

PointXYZIRADRT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8};
PointXYZIRADRT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8};
Expand All @@ -38,7 +38,7 @@ TEST(PointEquality, PointXYZIRADRT)

TEST(PointEquality, PointXYZIRCAEDT)
{
using autoware_point_types::PointXYZIRCAEDT;
using autoware::point_types::PointXYZIRCAEDT;

PointXYZIRCAEDT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
PointXYZIRCAEDT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
Expand All @@ -48,19 +48,19 @@ TEST(PointEquality, PointXYZIRCAEDT)
TEST(PointEquality, FloatEq)
{
// test template
EXPECT_TRUE(autoware_point_types::float_eq<float>(1, 1));
EXPECT_TRUE(autoware_point_types::float_eq<double>(1, 1));
EXPECT_TRUE(autoware::point_types::float_eq<float>(1, 1));
EXPECT_TRUE(autoware::point_types::float_eq<double>(1, 1));

// test floating point error
EXPECT_TRUE(autoware_point_types::float_eq<float>(1, 1 + std::numeric_limits<float>::epsilon()));
EXPECT_TRUE(autoware::point_types::float_eq<float>(1, 1 + std::numeric_limits<float>::epsilon()));

// test difference of sign
EXPECT_FALSE(autoware_point_types::float_eq<float>(2, -2));
EXPECT_FALSE(autoware_point_types::float_eq<float>(-2, 2));
EXPECT_FALSE(autoware::point_types::float_eq<float>(2, -2));
EXPECT_FALSE(autoware::point_types::float_eq<float>(-2, 2));

// small value difference
EXPECT_FALSE(autoware_point_types::float_eq<float>(2, 2 + 10e-6));
EXPECT_FALSE(autoware::point_types::float_eq<float>(2, 2 + 10e-6));

// expect same value if epsilon is larger than difference
EXPECT_TRUE(autoware_point_types::float_eq<float>(2, 2 + 10e-6, 10e-5));
EXPECT_TRUE(autoware::point_types::float_eq<float>(2, 2 + 10e-6, 10e-5));
}
Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,9 @@

#include "lidar_marker_localizer.hpp"

#include <autoware/point_types/types.hpp>
#include <autoware/universe_utils/geometry/geometry.hpp>
#include <autoware/universe_utils/transform/transforms.hpp>
#include <autoware_point_types/types.hpp>
#include <pcl_ros/transforms.hpp>
#include <rclcpp/qos.hpp>

Expand Down Expand Up @@ -338,20 +338,20 @@
// TODO(YamatoAndo)
// Transform sensor_frame to base_link

pcl::PointCloud<autoware_point_types::PointXYZIRC>::Ptr points_ptr(
new pcl::PointCloud<autoware_point_types::PointXYZIRC>);
pcl::PointCloud<autoware::point_types::PointXYZIRC>::Ptr points_ptr(
new pcl::PointCloud<autoware::point_types::PointXYZIRC>);

Check warning on line 342 in localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp

View check run for this annotation

Codecov / codecov/patch

localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp#L342

Added line #L342 was not covered by tests
pcl::fromROSMsg(*points_msg_ptr, *points_ptr);

if (points_ptr->empty()) {
RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, "No points!");
return std::vector<landmark_manager::Landmark>{};
}

std::vector<pcl::PointCloud<autoware_point_types::PointXYZIRC>> ring_points(128);
std::vector<pcl::PointCloud<autoware::point_types::PointXYZIRC>> ring_points(128);

Check warning on line 350 in localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp

View check run for this annotation

Codecov / codecov/patch

localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp#L350

Added line #L350 was not covered by tests

float min_x = std::numeric_limits<float>::max();
float max_x = std::numeric_limits<float>::lowest();
for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) {
for (const autoware::point_types::PointXYZIRC & point : points_ptr->points) {
ring_points[point.channel].push_back(point);
min_x = std::min(min_x, point.x);
max_x = std::max(max_x, point.x);
Expand All @@ -365,12 +365,12 @@
std::vector<float> min_y(bin_num, std::numeric_limits<float>::max());

// for each channel
for (const pcl::PointCloud<autoware_point_types::PointXYZIRC> & one_ring : ring_points) {
for (const pcl::PointCloud<autoware::point_types::PointXYZIRC> & one_ring : ring_points) {
std::vector<double> intensity_sum(bin_num, 0.0);
std::vector<int> intensity_num(bin_num, 0);
std::vector<double> average_intensity(bin_num, 0.0);

for (const autoware_point_types::PointXYZIRC & point : one_ring.points) {
for (const autoware::point_types::PointXYZIRC & point : one_ring.points) {
const int bin_index = static_cast<int>((point.x - min_x) / param_.resolution);
intensity_sum[bin_index] += point.intensity;
intensity_num[bin_index]++;
Expand Down Expand Up @@ -507,15 +507,15 @@
const geometry_msgs::msg::Pose marker_pose) const
{
// convert from ROSMsg to PCL
pcl::shared_ptr<pcl::PointCloud<autoware_point_types::PointXYZIRC>> points_ptr(
new pcl::PointCloud<autoware_point_types::PointXYZIRC>);
pcl::shared_ptr<pcl::PointCloud<autoware::point_types::PointXYZIRC>> points_ptr(
new pcl::PointCloud<autoware::point_types::PointXYZIRC>);

Check warning on line 511 in localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp

View check run for this annotation

Codecov / codecov/patch

localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp#L511

Added line #L511 was not covered by tests
pcl::fromROSMsg(*points_msg_ptr, *points_ptr);

pcl::shared_ptr<pcl::PointCloud<autoware_point_types::PointXYZIRC>> marker_points_ptr(
new pcl::PointCloud<autoware_point_types::PointXYZIRC>);
pcl::shared_ptr<pcl::PointCloud<autoware::point_types::PointXYZIRC>> marker_points_ptr(
new pcl::PointCloud<autoware::point_types::PointXYZIRC>);

Check warning on line 515 in localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp

View check run for this annotation

Codecov / codecov/patch

localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp#L515

Added line #L515 was not covered by tests

// extract marker pointcloud
for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) {
for (const autoware::point_types::PointXYZIRC & point : points_ptr->points) {
const double xy_distance = std::sqrt(
std::pow(point.x - marker_pose.position.x, 2.0) +
std::pow(point.y - marker_pose.position.y, 2.0));
Expand Down Expand Up @@ -546,8 +546,8 @@
marker_points_msg_sensor_frame_ptr);

// convert from ROSMsg to PCL
pcl::shared_ptr<pcl::PointCloud<autoware_point_types::PointXYZIRC>>
marker_points_sensor_frame_ptr(new pcl::PointCloud<autoware_point_types::PointXYZIRC>);
pcl::shared_ptr<pcl::PointCloud<autoware::point_types::PointXYZIRC>>
marker_points_sensor_frame_ptr(new pcl::PointCloud<autoware::point_types::PointXYZIRC>);

Check warning on line 550 in localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp

View check run for this annotation

Codecov / codecov/patch

localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp#L550

Added line #L550 was not covered by tests
pcl::fromROSMsg(*marker_points_msg_sensor_frame_ptr, *marker_points_sensor_frame_ptr);

// to csv format
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
#include "../src/distance_based_compare_map_filter/node.hpp"

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <autoware_point_types/types.hpp>
#include <autoware/point_types/types.hpp>
#include <autoware_test_utils/autoware_test_utils.hpp>
#include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>

Expand All @@ -24,8 +24,8 @@
#include <gtest/gtest.h>

using autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent;
using autoware_point_types::PointXYZIRC;
using autoware_point_types::PointXYZIRCGenerator;
using autoware::point_types::PointXYZIRC;
using autoware::point_types::PointXYZIRCGenerator;
using point_cloud_msg_wrapper::PointCloud2Modifier;
using sensor_msgs::msg::PointCloud2;

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
#include "../src/voxel_based_approximate_compare_map_filter/node.hpp"

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <autoware_point_types/types.hpp>
#include <autoware/point_types/types.hpp>
#include <autoware_test_utils/autoware_test_utils.hpp>
#include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>

Expand All @@ -24,8 +24,8 @@
#include <gtest/gtest.h>

using autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent;
using autoware_point_types::PointXYZIRC;
using autoware_point_types::PointXYZIRCGenerator;
using autoware::point_types::PointXYZIRC;
using autoware::point_types::PointXYZIRCGenerator;
using point_cloud_msg_wrapper::PointCloud2Modifier;
using sensor_msgs::msg::PointCloud2;

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
#include "../src/voxel_based_compare_map_filter/node.hpp"

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <autoware_point_types/types.hpp>
#include <autoware/point_types/types.hpp>
#include <autoware_test_utils/autoware_test_utils.hpp>
#include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>

Expand All @@ -24,8 +24,8 @@
#include <gtest/gtest.h>

using autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent;
using autoware_point_types::PointXYZIRC;
using autoware_point_types::PointXYZIRCGenerator;
using autoware::point_types::PointXYZIRC;
using autoware::point_types::PointXYZIRCGenerator;
using point_cloud_msg_wrapper::PointCloud2Modifier;
using sensor_msgs::msg::PointCloud2;

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
#include "../src/voxel_distance_based_compare_map_filter/node.hpp"

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <autoware_point_types/types.hpp>
#include <autoware/point_types/types.hpp>
#include <autoware_test_utils/autoware_test_utils.hpp>
#include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>

Expand All @@ -24,8 +24,8 @@
#include <gtest/gtest.h>

using autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent;
using autoware_point_types::PointXYZIRC;
using autoware_point_types::PointXYZIRCGenerator;
using autoware::point_types::PointXYZIRC;
using autoware::point_types::PointXYZIRCGenerator;
using point_cloud_msg_wrapper::PointCloud2Modifier;
using sensor_msgs::msg::PointCloud2;

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@

#include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp"

#include <autoware_point_types/types.hpp>
#include <autoware/point_types/types.hpp>
#include <experimental/random>

#include <sensor_msgs/msg/point_cloud2.hpp>
Expand All @@ -23,7 +23,7 @@

#include <gtest/gtest.h>

using autoware_point_types::PointXYZI;
using autoware::point_types::PointXYZI;
void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud)
{
pointcloud.fields.resize(4);
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@

#include "autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp"

#include "autoware_point_types/types.hpp"
#include "autoware/point_types/types.hpp"

#include <autoware/image_projection_based_fusion/utils/geometry.hpp>
#include <autoware/image_projection_based_fusion/utils/utils.hpp>
Expand Down Expand Up @@ -293,15 +293,15 @@ void PointPaintingFusionNode::fuseOnSingleImage(
// sensor_msgs::msg::PointCloud2 transformed_pointcloud;
// tf2::doTransform(painted_pointcloud_msg, transformed_pointcloud, transform_stamped);

const auto x_offset =
painted_pointcloud_msg.fields.at(static_cast<size_t>(autoware_point_types::PointXYZIRCIndex::X))
.offset;
const auto y_offset =
painted_pointcloud_msg.fields.at(static_cast<size_t>(autoware_point_types::PointXYZIRCIndex::Y))
.offset;
const auto z_offset =
painted_pointcloud_msg.fields.at(static_cast<size_t>(autoware_point_types::PointXYZIRCIndex::Z))
.offset;
const auto x_offset = painted_pointcloud_msg.fields
.at(static_cast<size_t>(autoware::point_types::PointXYZIRCIndex::X))
.offset;
const auto y_offset = painted_pointcloud_msg.fields
.at(static_cast<size_t>(autoware::point_types::PointXYZIRCIndex::Y))
.offset;
const auto z_offset = painted_pointcloud_msg.fields
.at(static_cast<size_t>(autoware::point_types::PointXYZIRCIndex::Z))
.offset;
const auto class_offset = painted_pointcloud_msg.fields.at(4).offset;
const auto p_step = painted_pointcloud_msg.point_step;
// projection matrix
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -13,11 +13,11 @@
// limitations under the License.

#include <autoware/image_projection_based_fusion/utils/utils.hpp>
#include <autoware_point_types/types.hpp>
#include <autoware/point_types/types.hpp>

#include <gtest/gtest.h>

using autoware_point_types::PointXYZI;
using autoware::point_types::PointXYZI;

void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud)
{
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
#include <tf2_eigen/tf2_eigen.hpp>
#endif

#include <autoware_point_types/types.hpp>
#include <autoware/point_types/types.hpp>

#include <sensor_msgs/msg/point_cloud2.hpp>

Expand All @@ -39,7 +39,7 @@
namespace autoware::lidar_transfusion
{
constexpr std::size_t AFF_MAT_SIZE = 16; // 4x4 matrix
constexpr std::size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware_point_types::PointXYZIRCAEDT);
constexpr std::size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware::point_types::PointXYZIRCAEDT);

class VoxelGenerator
{
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@

#include "autoware/lidar_transfusion/utils.hpp"

#include <autoware_point_types/types.hpp>
#include <autoware/point_types/types.hpp>

#include <autoware_perception_msgs/msg/detected_object_kinematics.hpp>
#include <autoware_perception_msgs/msg/detected_objects.hpp>
Expand Down Expand Up @@ -45,10 +45,10 @@ namespace autoware::lidar_transfusion
{
using sensor_msgs::msg::PointField;

CHECK_FIELD(0, float, autoware_point_types::PointXYZIRCAEDT, x);
CHECK_FIELD(4, float, autoware_point_types::PointXYZIRCAEDT, y);
CHECK_FIELD(8, float, autoware_point_types::PointXYZIRCAEDT, z);
CHECK_FIELD(12, uint8_t, autoware_point_types::PointXYZIRCAEDT, intensity);
CHECK_FIELD(0, float, autoware::point_types::PointXYZIRCAEDT, x);
CHECK_FIELD(4, float, autoware::point_types::PointXYZIRCAEDT, y);
CHECK_FIELD(8, float, autoware::point_types::PointXYZIRCAEDT, z);
CHECK_FIELD(12, uint8_t, autoware::point_types::PointXYZIRCAEDT, intensity);

struct CloudInfo
{
Expand All @@ -64,7 +64,7 @@ struct CloudInfo
uint8_t y_count{1};
uint8_t z_count{1};
uint8_t intensity_count{1};
uint32_t point_step{sizeof(autoware_point_types::PointXYZIRCAEDT)};
uint32_t point_step{sizeof(autoware::point_types::PointXYZIRCAEDT)};
bool is_bigendian{false};

bool operator!=(const CloudInfo & rhs) const
Expand Down
Loading
Loading