refactor(tensorrt_classifier)!: fix namespace and directory structure

.github/CODEOWNERS

@@ -55,7 +55,7 @@
 control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_pure_pursuit/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_shift_decider/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_smart_mpc_trajectory_follower/** kosuke.takeuchi@tier4.jp masayuki.aino@proxima-ai-tech.com takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
@@ -136,7 +136,7 @@
 perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
-perception/tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
+perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
 perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
 perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp
 perception/traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp

perception/tensorrt_classifier/CMakeLists.txt → perception/autoware_tensorrt_classifier/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(tensorrt_classifier)
+project(autoware_tensorrt_classifier)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3 -Wno-write-strings -fopenmp -Wall")
 

perception/tensorrt_classifier/include/tensorrt_classifier/calibrator.hpp → perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp

@@ -34,8 +34,8 @@
  * DEALINGS IN THE SOFTWARE.
  */
 
-#ifndef TENSORRT_CLASSIFIER__CALIBRATOR_HPP_
-#define TENSORRT_CLASSIFIER__CALIBRATOR_HPP_
+#ifndef AUTOWARE__TENSORRT_CLASSIFIER__CALIBRATOR_HPP_
+#define AUTOWARE__TENSORRT_CLASSIFIER__CALIBRATOR_HPP_
 #include "cuda_utils/cuda_check_error.hpp"
 #include "cuda_utils/cuda_unique_ptr.hpp"
 
@@ -52,7 +52,7 @@
 #include <string>
 #include <vector>
 
-namespace tensorrt_classifier
+namespace autoware::tensorrt_classifier
 {
 class ImageStream
 {
@@ -524,6 +524,6 @@ class Int8MinMaxCalibrator : public nvinfer1::IInt8MinMaxCalibrator
   // std for preprocessing
   std::vector<float> m_std;
 };
-}  // namespace tensorrt_classifier
+}  // namespace autoware::tensorrt_classifier
 
-#endif  // TENSORRT_CLASSIFIER__CALIBRATOR_HPP_
+#endif  // AUTOWARE__TENSORRT_CLASSIFIER__CALIBRATOR_HPP_

perception/tensorrt_classifier/include/tensorrt_classifier/preprocess.h → perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/preprocess.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TENSORRT_CLASSIFIER__PREPROCESS_H_
-#define TENSORRT_CLASSIFIER__PREPROCESS_H_
+#ifndef AUTOWARE__TENSORRT_CLASSIFIER__PREPROCESS_H_
+#define AUTOWARE__TENSORRT_CLASSIFIER__PREPROCESS_H_
 
 #include <cublas_v2.h>
 #include <cuda.h>
@@ -178,4 +178,4 @@ extern void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu(
   float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h,
   int s_c, int batch, float norm, cudaStream_t stream);
 
-#endif  // TENSORRT_CLASSIFIER__PREPROCESS_H_
+#endif  // AUTOWARE__TENSORRT_CLASSIFIER__PREPROCESS_H_

perception/tensorrt_classifier/include/tensorrt_classifier/tensorrt_classifier.hpp → perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_
-#define TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_
+#ifndef AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_
+#define AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_
 
 #include <cuda_utils/cuda_check_error.hpp>
 #include <cuda_utils/cuda_unique_ptr.hpp>
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace tensorrt_classifier
+namespace autoware::tensorrt_classifier
 {
 using cuda_utils::CudaUniquePtr;
 using cuda_utils::CudaUniquePtrHost;
@@ -129,6 +129,6 @@ class TrtClassifier
   int batch_size_;
   CudaUniquePtrHost<float[]> out_prob_h_;
 };
-}  // namespace tensorrt_classifier
+}  // namespace autoware::tensorrt_classifier
 
-#endif  // TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_
+#endif  // AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_

perception/tensorrt_classifier/package.xml → perception/autoware_tensorrt_classifier/package.xml

@@ -1,11 +1,10 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>tensorrt_classifier</name>
+  <name>autoware_tensorrt_classifier</name>
   <version>0.0.1</version>
   <description>tensorrt classifier wrapper</description>
 
   <author email="dan.umeda@tier4.jp">Dan Umeda</author>
-  <author email="mingyu.li@tier4.jp">Mingyu Li</author>
   <maintainer email="kotaro.uetake@tier4.jp">Kotaro Uetake</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
 

perception/tensorrt_classifier/src/preprocess.cu → perception/autoware_tensorrt_classifier/src/preprocess.cu

@@ -11,9 +11,9 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+#include <autoware/tensorrt_classifier/preprocess.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <tensorrt_classifier/preprocess.h>
 
 #include <algorithm>
 

perception/tensorrt_classifier/src/tensorrt_classifier.cpp → perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <tensorrt_classifier/calibrator.hpp>
-#include <tensorrt_classifier/tensorrt_classifier.hpp>
+#include <autoware/tensorrt_classifier/calibrator.hpp>
+#include <autoware/tensorrt_classifier/tensorrt_classifier.hpp>
 
+#include <autoware/tensorrt_classifier/preprocess.h>
 #include <omp.h>
-#include <tensorrt_classifier/preprocess.h>
 
 #include <algorithm>
 #include <functional>
@@ -95,7 +95,7 @@
   return fileList;
 }
 
-namespace tensorrt_classifier
+namespace autoware::tensorrt_classifier
 {
 TrtClassifier::TrtClassifier(
   const std::string & model_path, const std::string & precision,
@@ -120,37 +120,38 @@
     if (calibration_image_list_path != "") {
       calibration_images = loadImageList(calibration_image_list_path, "");
     }
-    tensorrt_classifier::ImageStream stream(max_batch_size, input_dims, calibration_images);
+    autoware::tensorrt_classifier::ImageStream stream(
+      max_batch_size, input_dims, calibration_images);
     fs::path calibration_table{model_path};
     std::string calibName = "";
     std::string ext = "";
     if (build_config.calib_type_str == "Entropy") {
       ext = "EntropyV2-";
     } else if (
       build_config.calib_type_str == "Legacy" || build_config.calib_type_str == "Percentile") {
       ext = "Legacy-";
     } else {
       ext = "MinMax-";
     }
     ext += "calibration.table";
     calibration_table.replace_extension(ext);
     fs::path histogram_table{model_path};
     ext = "histogram.table";
     histogram_table.replace_extension(ext);
 
     std::unique_ptr<nvinfer1::IInt8Calibrator> calibrator;
     if (build_config.calib_type_str == "Entropy") {
-      calibrator.reset(
-        new tensorrt_classifier::Int8EntropyCalibrator(stream, calibration_table, mean_, std_));
+      calibrator.reset(new autoware::tensorrt_classifier::Int8EntropyCalibrator(
+        stream, calibration_table, mean_, std_));
     } else if (
       build_config.calib_type_str == "Legacy" || build_config.calib_type_str == "Percentile") {
       double quantile = 0.999999;
       double cutoff = 0.999999;
-      calibrator.reset(new tensorrt_classifier::Int8LegacyCalibrator(
+      calibrator.reset(new autoware::tensorrt_classifier::Int8LegacyCalibrator(
         stream, calibration_table, histogram_table, mean_, std_, true, quantile, cutoff));
     } else {
-      calibrator.reset(
-        new tensorrt_classifier::Int8MinMaxCalibrator(stream, calibration_table, mean_, std_));
+      calibrator.reset(new autoware::tensorrt_classifier::Int8MinMaxCalibrator(
+        stream, calibration_table, mean_, std_));
     }
     trt_common_ = std::make_unique<tensorrt_common::TrtCommon>(
       model_path, precision, std::move(calibrator), batch_config, max_workspace_size, build_config);
@@ -384,4 +385,4 @@
   }
   return true;
 }
-}  // namespace tensorrt_classifier
+}  // namespace autoware::tensorrt_classifier

perception/traffic_light_classifier/package.xml

@@ -14,6 +14,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_tensorrt_classifier</depend>
   <depend>cuda_utils</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
@@ -22,7 +23,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>tensorrt_classifier</depend>
   <depend>tensorrt_common</depend>
   <depend>tier4_perception_msgs</depend>
 

perception/traffic_light_classifier/src/classifier/cnn_classifier.cpp

@@ -56,7 +56,7 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr)
   batch_size_ = input_dim.d[0];
 
   tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_};
-  classifier_ = std::make_unique<tensorrt_classifier::TrtClassifier>(
+  classifier_ = std::make_unique<autoware::tensorrt_classifier::TrtClassifier>(
     model_file_path, precision, batch_config, mean_, std_);
   if (node_ptr_->declare_parameter("build_only", false)) {
     RCLCPP_INFO(node_ptr_->get_logger(), "TensorRT engine is built and shutdown node.");

perception/traffic_light_classifier/src/classifier/cnn_classifier.hpp

@@ -17,14 +17,14 @@
 
 #include "classifier_interface.hpp"
 
+#include <autoware/tensorrt_classifier/tensorrt_classifier.hpp>
 #include <cuda_utils/cuda_unique_ptr.hpp>
 #include <cuda_utils/stream_unique_ptr.hpp>
 #include <image_transport/image_transport.hpp>
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/opencv.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tensorrt_classifier/tensorrt_classifier.hpp>
 #include <tensorrt_common/tensorrt_common.hpp>
 
 #include <tier4_perception_msgs/msg/traffic_light_element.hpp>
@@ -111,7 +111,7 @@ class CNNClassifier : public ClassifierInterface
 
   rclcpp::Node * node_ptr_;
   int batch_size_;
-  std::unique_ptr<tensorrt_classifier::TrtClassifier> classifier_;
+  std::unique_ptr<autoware::tensorrt_classifier::TrtClassifier> classifier_;
   image_transport::Publisher image_pub_;
   std::vector<std::string> labels_;
   std::vector<float> mean_;