refactor(ndt_scan_matcher): modularize pose initialization #2254

kminoda · 2022-11-09T08:19:51Z

Description

Aiming at integrating dynamic map loading feature in ndt_scan_matcher smoothly, I would like to modularize ndt_scan_matcher into the following modules:

module that load pointcloud map (map_module) (Done)
module that execute the pose initialization (initial_pose_module) (This PR)

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Signed-off-by: kminoda <koji.minoda@tier4.jp>

…ithub.com:kminoda/autoware.universe into refactor/ndt_scan_matcher/modularize_map_callback

Signed-off-by: kminoda <koji.minoda@tier4.jp>

… github.com:kminoda/autoware.universe into refactor/ndt_scan_matcher/modularize_initialization

localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

localization/ndt_scan_matcher/src/pose_initialization_module.cpp

Signed-off-by: kminoda <koji.minoda@tier4.jp>

… github.com:kminoda/autoware.universe into refactor/ndt_scan_matcher/modularize_initialization

KYabuuchi

LGTM

codecov · 2022-11-10T02:06:52Z

Codecov Report

Base: 11.14% // Head: 11.11% // Decreases project coverage by -0.02% ⚠️

Coverage data is based on head (bd737ad) compared to base (8f8ec9d).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2254      +/-   ##
==========================================
- Coverage   11.14%   11.11%   -0.03%     
==========================================
  Files        1203     1204       +1     
  Lines       86268    86480     +212     
  Branches    20829    20829              
==========================================
  Hits         9615     9615              
- Misses      66490    66702     +212     
  Partials    10163    10163

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`11.12% <0.00%> (ø)`		Carriedforward from 8f8ec9d

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	`0.00% <0.00%> (ø)`
...dt_scan_matcher/src/pose_initialization_module.cpp	`0.00% <0.00%> (ø)`

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…oundation#2254) * still work in progress Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * ptr_ptr yameru Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove unnecessary newline Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert launch setting Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * reverted debugging line Signed-off-by: kminoda <koji.minoda@tier4.jp> * pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove format inclusion Signed-off-by: kminoda <koji.minoda@tier4.jp> * first commit on pose initialization module Signed-off-by: kminoda <koji.minoda@tier4.jp> * use shared_ptr for test Signed-off-by: kminoda <koji.minoda@tier4.jp> * now works fine Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * No StdMap Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * added include Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * reflected review Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

…oundation#2254) * still work in progress Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * ptr_ptr yameru Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove unnecessary newline Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert launch setting Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * reverted debugging line Signed-off-by: kminoda <koji.minoda@tier4.jp> * pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove format inclusion Signed-off-by: kminoda <koji.minoda@tier4.jp> * first commit on pose initialization module Signed-off-by: kminoda <koji.minoda@tier4.jp> * use shared_ptr for test Signed-off-by: kminoda <koji.minoda@tier4.jp> * now works fine Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * No StdMap Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * added include Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * reflected review Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

kminoda and others added 16 commits November 8, 2022 12:43

still work in progress

184eb9f

Signed-off-by: kminoda <koji.minoda@tier4.jp>

updated

4d29996

Signed-off-by: kminoda <koji.minoda@tier4.jp>

ci(pre-commit): autofix

3ab08a5

ptr_ptr yameru

b70327e

Signed-off-by: kminoda <koji.minoda@tier4.jp>

resolve conflict

d266dc2

Signed-off-by: kminoda <koji.minoda@tier4.jp>

remove unnecessary newline

07e54dd

Signed-off-by: kminoda <koji.minoda@tier4.jp>

revert launch setting

500081c

Signed-off-by: kminoda <koji.minoda@tier4.jp>

ci(pre-commit): autofix

1fb3ab5

reverted debugging line

1514769

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Merge branch 'refactor/ndt_scan_matcher/modularize_map_callback' of g…

0282885

…ithub.com:kminoda/autoware.universe into refactor/ndt_scan_matcher/modularize_map_callback

pre-commit

179f692

Signed-off-by: kminoda <koji.minoda@tier4.jp>

remove format inclusion

d7e4c7a

Signed-off-by: kminoda <koji.minoda@tier4.jp>

first commit on pose initialization module

c3449df

Signed-off-by: kminoda <koji.minoda@tier4.jp>

use shared_ptr for test

bbd61d3

Signed-off-by: kminoda <koji.minoda@tier4.jp>

now works fine

5c1ed7e

Signed-off-by: kminoda <koji.minoda@tier4.jp>

resolve conflict

acab3a7

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Nov 9, 2022

kminoda requested review from KYabuuchi and YamatoAndo as code owners November 9, 2022 08:19

kminoda self-assigned this Nov 9, 2022

pre-commit-ci bot and others added 7 commits November 9, 2022 08:21

ci(pre-commit): autofix

6d443d5

No StdMap

626ad07

Signed-off-by: kminoda <koji.minoda@tier4.jp>

resolve conflict

cd0e904

Signed-off-by: kminoda <koji.minoda@tier4.jp>

ci(pre-commit): autofix

0614bcf

added include

27a87a7

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Merge branch 'refactor/ndt_scan_matcher/modularize_initialization' of…

3d0017a

… github.com:kminoda/autoware.universe into refactor/ndt_scan_matcher/modularize_initialization

ci(pre-commit): autofix

622fc8c

KYabuuchi reviewed Nov 10, 2022

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localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Show resolved Hide resolved

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kminoda added 2 commits November 10, 2022 10:54

reflected review

2b8359f

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Merge branch 'refactor/ndt_scan_matcher/modularize_initialization' of…

bd737ad

… github.com:kminoda/autoware.universe into refactor/ndt_scan_matcher/modularize_initialization

KYabuuchi approved these changes Nov 10, 2022

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kminoda merged commit a113489 into autowarefoundation:main Nov 10, 2022

tier4-autoware-public-bot bot mentioned this pull request Nov 10, 2022

chore: sync upstream tier4/autoware.universe#173

Merged

kminoda deleted the refactor/ndt_scan_matcher/modularize_initialization branch November 21, 2022 04:37

kminoda mentioned this pull request Nov 29, 2022

fix(ndt_scan_matcher): using de-ground points calculate ndt match score #2312

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refactor(ndt_scan_matcher): modularize pose initialization #2254

refactor(ndt_scan_matcher): modularize pose initialization #2254

kminoda commented Nov 9, 2022 •

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refactor(ndt_scan_matcher): modularize pose initialization #2254

refactor(ndt_scan_matcher): modularize pose initialization #2254

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kminoda commented Nov 9, 2022 • edited Loading

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