refactor(bytetrack): fix namespace and directory structure (autowaref…

…oundation#8125)

* chore: fix namespace

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

* chore: change include name

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

* refactor: rename perception/bytetrack to perception/autoware_bytetrack

Signed-off-by: Taekjin LEE <[email protected]>

* refactor: fix node exe

Signed-off-by: Taekjin LEE <[email protected]>

---------

Signed-off-by: yoshiri <[email protected]>
Signed-off-by: Taekjin LEE <[email protected]>
Co-authored-by: Taekjin LEE <[email protected]>

.github/CODEOWNERS

@@ -116,7 +116,7 @@ perception/autoware_radar_fusion_to_detected_object/** [email protected] s
 perception/autoware_radar_object_clustering/** [email protected] [email protected] [email protected] [email protected]
 perception/autoware_radar_object_tracker/** [email protected] [email protected] [email protected]
 perception/autoware_tracking_object_merger/** [email protected] [email protected] [email protected]
-perception/bytetrack/** [email protected] [email protected]
+perception/autoware_bytetrack/** [email protected] [email protected]
 perception/autoware_cluster_merger/** [email protected] [email protected] [email protected]
 perception/autoware_compare_map_segmentation/** [email protected] [email protected] [email protected]
 perception/autoware_detected_object_feature_remover/** [email protected]

perception/bytetrack/CMakeLists.txt → perception/autoware_bytetrack/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(bytetrack)
+project(autoware_bytetrack)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -16,20 +16,20 @@ find_package(Boost REQUIRED)
 #
 # Core library
 #
-file(GLOB bytetrack_lib_src
+file(GLOB project_lib_src
   "lib/src/*.cpp"
 )
 
-ament_auto_add_library(bytetrack_lib SHARED
-  ${bytetrack_lib_src}
+ament_auto_add_library(${PROJECT_NAME}_lib SHARED
+  ${project_lib_src}
 )
 
-target_include_directories(bytetrack_lib
+target_include_directories(${PROJECT_NAME}_lib
   PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/lib/include>
   $<INSTALL_INTERFACE:include>
 )
-target_link_libraries(bytetrack_lib
+target_link_libraries(${PROJECT_NAME}_lib
   Eigen3::Eigen
   yaml-cpp
 )
@@ -72,8 +72,8 @@ target_compile_definitions(${PROJECT_NAME}_node PRIVATE
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_node
-  PLUGIN "bytetrack::ByteTrackNode"
-  EXECUTABLE ${PROJECT_NAME}_node_exe
+  PLUGIN "autoware::bytetrack::ByteTrackNode"
+  EXECUTABLE bytetrack_node_exe
 )
 
 #
@@ -88,8 +88,8 @@ ament_target_dependencies(${PROJECT_NAME}_visualizer
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_visualizer
-  PLUGIN "bytetrack::ByteTrackVisualizerNode"
-  EXECUTABLE ${PROJECT_NAME}_visualizer_node_exe
+  PLUGIN "autoware::bytetrack::ByteTrackVisualizerNode"
+  EXECUTABLE bytetrack_visualizer_node_exe
 )
 
 ament_auto_package(INSTALL_TO_SHARE

perception/bytetrack/include/bytetrack/bytetrack.hpp → perception/autoware_bytetrack/include/autoware/bytetrack/bytetrack.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BYTETRACK__BYTETRACK_HPP_
-#define BYTETRACK__BYTETRACK_HPP_
+#ifndef AUTOWARE__BYTETRACK__BYTETRACK_HPP_
+#define AUTOWARE__BYTETRACK__BYTETRACK_HPP_
 
 #include "byte_tracker.h"
 #include "strack.h"
@@ -28,7 +28,7 @@
 #include <string>
 #include <vector>
 
-namespace bytetrack
+namespace autoware::bytetrack
 {
 struct Object
 {
@@ -57,6 +57,6 @@ class ByteTrack
   ObjectArray latest_objects_;
 };
 
-}  // namespace bytetrack
+}  // namespace autoware::bytetrack
 
-#endif  // BYTETRACK__BYTETRACK_HPP_
+#endif  // AUTOWARE__BYTETRACK__BYTETRACK_HPP_

perception/bytetrack/include/bytetrack/bytetrack_node.hpp → perception/autoware_bytetrack/include/autoware/bytetrack/bytetrack_node.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BYTETRACK__BYTETRACK_NODE_HPP_
-#define BYTETRACK__BYTETRACK_NODE_HPP_
+#ifndef AUTOWARE__BYTETRACK__BYTETRACK_NODE_HPP_
+#define AUTOWARE__BYTETRACK__BYTETRACK_NODE_HPP_
 
-#include <bytetrack/bytetrack.hpp>
+#include <autoware/bytetrack/bytetrack.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
@@ -34,7 +34,7 @@
 #include <string>
 #include <vector>
 
-namespace bytetrack
+namespace autoware::bytetrack
 {
 using LabelMap = std::map<int, std::string>;
 
@@ -55,9 +55,9 @@ class ByteTrackNode : public rclcpp::Node
 
   rclcpp::TimerBase::SharedPtr timer_;
 
-  std::unique_ptr<bytetrack::ByteTrack> bytetrack_;
+  std::unique_ptr<autoware::bytetrack::ByteTrack> bytetrack_;
 };
 
-}  // namespace bytetrack
+}  // namespace autoware::bytetrack
 
-#endif  // BYTETRACK__BYTETRACK_NODE_HPP_
+#endif  // AUTOWARE__BYTETRACK__BYTETRACK_NODE_HPP_

perception/bytetrack/include/bytetrack/bytetrack_visualizer_node.hpp → perception/autoware_bytetrack/include/autoware/bytetrack/bytetrack_visualizer_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BYTETRACK__BYTETRACK_VISUALIZER_NODE_HPP_
-#define BYTETRACK__BYTETRACK_VISUALIZER_NODE_HPP_
+#ifndef AUTOWARE__BYTETRACK__BYTETRACK_VISUALIZER_NODE_HPP_
+#define AUTOWARE__BYTETRACK__BYTETRACK_VISUALIZER_NODE_HPP_
 
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>
@@ -35,7 +35,7 @@
 #include <string>
 #include <vector>
 
-namespace bytetrack
+namespace autoware::bytetrack
 {
 // A helper class to generate bright color instance
 class ColorMapper
@@ -99,6 +99,6 @@ class ByteTrackVisualizerNode : public rclcpp::Node
   bool use_raw_;
   ColorMapper color_map_;
 };
-}  // namespace bytetrack
+}  // namespace autoware::bytetrack
 
-#endif  // BYTETRACK__BYTETRACK_VISUALIZER_NODE_HPP_
+#endif  // AUTOWARE__BYTETRACK__BYTETRACK_VISUALIZER_NODE_HPP_

perception/bytetrack/launch/bytetrack.launch.xml → perception/autoware_bytetrack/launch/bytetrack.launch.xml

@@ -4,18 +4,18 @@
   <arg name="in_image_compressed" default="$(var in_image)/compressed"/>
   <arg name="detection_rect" default="/perception/object_recognition/detection/rois0"/>
   <arg name="tracked_rect" default="/perception/object_recognition/detection/tracked/rois0"/>
-  <arg name="bytetrack_param_path" default="$(find-pkg-share bytetrack)/config/bytetrack.param.yaml"/>
-  <arg name="bytetrack_visualizer_param_path" default="$(find-pkg-share bytetrack)/config/bytetrack.param.yaml"/>
+  <arg name="bytetrack_param_path" default="$(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml"/>
+  <arg name="bytetrack_visualizer_param_path" default="$(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml"/>
   <arg name="enable_visualizer" default="true"/>
 
-  <node pkg="bytetrack" exec="bytetrack_node_exe" output="screen">
+  <node pkg="autoware_bytetrack" exec="bytetrack_node_exe" output="screen">
     <remap from="~/in/rect" to="$(var detection_rect)"/>
     <remap from="~/out/objects" to="$(var tracked_rect)"/>
     <remap from="~/out/objects/debug/uuid" to="$(var tracked_rect)/debug/uuid"/>
     <param from="$(var bytetrack_param_path)"/>
   </node>
 
-  <node pkg="bytetrack" exec="bytetrack_visualizer_node_exe" output="screen" if="$(var enable_visualizer)">
+  <node pkg="autoware_bytetrack" exec="bytetrack_visualizer_node_exe" output="screen" if="$(var enable_visualizer)">
     <remap from="~/in/image" to="$(var in_image)"/>
     <remap from="~/in/rect" to="$(var tracked_rect)"/>
     <remap from="~/in/uuid" to="$(var tracked_rect)/debug/uuid"/>

perception/bytetrack/lib/src/strack.cpp → perception/autoware_bytetrack/lib/src/strack.cpp

@@ -70,7 +70,7 @@ STrack::STrack(std::vector<float> input_tlwh, float score, int label)
 
   // load static kf parameters: initialized once in program
   const std::string package_share_directory =
-    ament_index_cpp::get_package_share_directory("bytetrack");
+    ament_index_cpp::get_package_share_directory("autoware_bytetrack");
   const std::string default_config_path =
     package_share_directory + "/config/kalman_filter.param.yaml";
   if (!_parameters_loaded) {

perception/bytetrack/package.xml → perception/autoware_bytetrack/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>bytetrack</name>
+  <name>autoware_bytetrack</name>
   <version>0.0.1</version>
   <description>ByteTrack implementation ported toward Autoware</description>
   <maintainer email="[email protected]">Manato HIRABAYASHI</maintainer>

perception/bytetrack/src/bytetrack.cpp → perception/autoware_bytetrack/src/bytetrack.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <bytetrack/bytetrack.hpp>
+#include <autoware/bytetrack/bytetrack.hpp>
 
 #include <algorithm>
 #include <fstream>
 #include <functional>
 
-namespace bytetrack
+namespace autoware::bytetrack
 {
 ByteTrack::ByteTrack(const int track_buffer_length)
 {
@@ -66,4 +66,4 @@ ObjectArray ByteTrack::update_tracker(ObjectArray & input_objects)
   do_inference(input_objects);
   return latest_objects_;
 }
-}  // namespace bytetrack
+}  // namespace autoware::bytetrack

perception/bytetrack/src/bytetrack_node.cpp → perception/autoware_bytetrack/src/bytetrack_node.cpp

@@ -12,9 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "bytetrack/bytetrack.hpp"
-
-#include <bytetrack/bytetrack_node.hpp>
+#include <autoware/bytetrack/bytetrack.hpp>
+#include <autoware/bytetrack/bytetrack_node.hpp>
 #include <rclcpp/qos.hpp>
 
 #include "autoware_perception_msgs/msg/object_classification.hpp"
@@ -24,7 +23,7 @@
 #include <utility>
 #include <vector>
 
-namespace bytetrack
+namespace autoware::bytetrack
 {
 ByteTrackNode::ByteTrackNode(const rclcpp::NodeOptions & node_options)
 : Node("bytetrack", node_options)
@@ -34,7 +33,7 @@ ByteTrackNode::ByteTrackNode(const rclcpp::NodeOptions & node_options)
 
   int track_buffer_length = declare_parameter("track_buffer_length", 30);
 
-  this->bytetrack_ = std::make_unique<bytetrack::ByteTrack>(track_buffer_length);
+  this->bytetrack_ = std::make_unique<autoware::bytetrack::ByteTrack>(track_buffer_length);
 
   timer_ =
     rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&ByteTrackNode::on_connect, this));
@@ -80,7 +79,7 @@ void ByteTrackNode::on_rect(
     object_array.emplace_back(obj);
   }
 
-  bytetrack::ObjectArray objects = bytetrack_->update_tracker(object_array);
+  autoware::bytetrack::ObjectArray objects = bytetrack_->update_tracker(object_array);
   for (const auto & tracked_object : objects) {
     tier4_perception_msgs::msg::DetectedObjectWithFeature object;
     // fit xy offset to 0 if roi is outside of image
@@ -115,7 +114,7 @@ void ByteTrackNode::on_rect(
   out_objects_uuid.header = msg->header;
   objects_uuid_pub_->publish(out_objects_uuid);
 }
-}  // namespace bytetrack
+}  // namespace autoware::bytetrack
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(bytetrack::ByteTrackNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::bytetrack::ByteTrackNode)

perception/bytetrack/src/bytetrack_visualizer_node.cpp → perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "bytetrack/bytetrack_visualizer_node.hpp"
+#include "autoware/bytetrack/bytetrack_visualizer_node.hpp"
 
 #include <boost/lexical_cast.hpp>
 #include <boost/uuid/uuid_io.hpp>
@@ -26,7 +26,7 @@
 #include <chrono>
 #include <string>
 
-namespace bytetrack
+namespace autoware::bytetrack
 {
 
 ByteTrackVisualizerNode::ByteTrackVisualizerNode(const rclcpp::NodeOptions & node_options)
@@ -190,7 +190,7 @@ void ByteTrackVisualizerNode::draw(
   }
 }
 
-}  // namespace bytetrack
+}  // namespace autoware::bytetrack
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(bytetrack::ByteTrackVisualizerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::bytetrack::ByteTrackVisualizerNode)