Merge pull request #781 from tier4/sync-upstream

chore: sync upstream

common/geography_utils/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.14)
+project(geography_utils)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+# GeographicLib
+find_package(PkgConfig)
+find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h
+  PATH_SUFFIXES GeographicLib
+)
+set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR})
+find_library(GeographicLib_LIBRARIES NAMES Geographic)
+
+ament_auto_add_library(geography_utils SHARED
+  src/height.cpp
+)
+
+target_link_libraries(geography_utils
+  ${GeographicLib_LIBRARIES}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
+
+  file(GLOB_RECURSE test_files test/*.cpp)
+
+  ament_add_ros_isolated_gtest(test_geography_utils ${test_files})
+
+  target_link_libraries(test_geography_utils
+  geography_utils
+  )
+endif()
+
+ament_auto_package()

common/geography_utils/README.md

@@ -0,0 +1,5 @@
+# geography_utils
+
+## Purpose
+
+This package contains geography-related functions used by other packages, so please refer to them as needed.

common/geography_utils/include/geography_utils/height.hpp

@@ -0,0 +1,36 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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.
+
+#ifndef GEOGRAPHY_UTILS__HEIGHT_HPP_
+#define GEOGRAPHY_UTILS__HEIGHT_HPP_
+
+#include <map>
+#include <stdexcept>
+#include <string>
+#include <utility>
+
+namespace geography_utils
+{
+
+typedef double (*HeightConversionFunction)(
+  const double height, const double latitude, const double longitude);
+double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude);
+double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude);
+double convert_height(
+  const double height, const double latitude, const double longitude,
+  const std::string & source_vertical_datum, const std::string & target_vertical_datum);
+
+}  // namespace geography_utils
+
+#endif  // GEOGRAPHY_UTILS__HEIGHT_HPP_

common/geography_utils/package.xml

@@ -0,0 +1,22 @@
+<?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>geography_utils</name>
+  <version>0.1.0</version>
+  <description>The geography_utils package</description>
+  <maintainer email="[email protected]">Koji Minoda</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>geographiclib</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/geography_utils/src/height.cpp

@@ -0,0 +1,63 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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 <GeographicLib/Geoid.hpp>
+#include <geography_utils/height.hpp>
+
+#include <map>
+#include <stdexcept>
+#include <string>
+#include <utility>
+
+namespace geography_utils
+{
+
+double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude)
+{
+  GeographicLib::Geoid egm2008("egm2008-1");
+  // cSpell: ignore ELLIPSOIDTOGEOID
+  return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::ELLIPSOIDTOGEOID);
+}
+
+double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude)
+{
+  GeographicLib::Geoid egm2008("egm2008-1");
+  // cSpell: ignore GEOIDTOELLIPSOID
+  return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::GEOIDTOELLIPSOID);
+}
+
+double convert_height(
+  const double height, const double latitude, const double longitude,
+  const std::string & source_vertical_datum, const std::string & target_vertical_datum)
+{
+  if (source_vertical_datum == target_vertical_datum) {
+    return height;
+  }
+  std::map<std::pair<std::string, std::string>, HeightConversionFunction> conversion_map;
+  conversion_map[{"WGS84", "EGM2008"}] = convert_wgs84_to_egm2008;
+  conversion_map[{"EGM2008", "WGS84"}] = convert_egm2008_to_wgs84;
+
+  auto key = std::make_pair(source_vertical_datum, target_vertical_datum);
+  if (conversion_map.find(key) != conversion_map.end()) {
+    return conversion_map[key](height, latitude, longitude);
+  } else {
+    std::string error_message =
+      "Invalid conversion types: " + std::string(source_vertical_datum.c_str()) + " to " +
+      std::string(target_vertical_datum.c_str());
+
+    throw std::invalid_argument(error_message);
+  }
+}
+
+}  // namespace geography_utils

common/geography_utils/test/test_height.cpp

@@ -0,0 +1,92 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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 <geography_utils/height.hpp>
+
+#include <gtest/gtest.h>
+
+#include <stdexcept>
+#include <string>
+
+// Test case to verify if same source and target datums return original height
+TEST(Tier4GeographyUtils, SameSourceTargetDatum)
+{
+  const double height = 10.0;
+  const double latitude = 35.0;
+  const double longitude = 139.0;
+  const std::string datum = "WGS84";
+
+  double converted_height =
+    geography_utils::convert_height(height, latitude, longitude, datum, datum);
+
+  EXPECT_DOUBLE_EQ(height, converted_height);
+}
+
+// Test case to verify valid source and target datums
+TEST(Tier4GeographyUtils, ValidSourceTargetDatum)
+{
+  // Calculated with
+  // https://www.unavco.org/software/geodetic-utilities/geoid-height-calculator/geoid-height-calculator.html
+  const double height = 10.0;
+  const double latitude = 35.0;
+  const double longitude = 139.0;
+  const double target_height = -30.18;
+
+  double converted_height =
+    geography_utils::convert_height(height, latitude, longitude, "WGS84", "EGM2008");
+
+  EXPECT_NEAR(target_height, converted_height, 0.1);
+}
+
+// Test case to verify invalid source and target datums
+TEST(Tier4GeographyUtils, InvalidSourceTargetDatum)
+{
+  const double height = 10.0;
+  const double latitude = 35.0;
+  const double longitude = 139.0;
+
+  EXPECT_THROW(
+    geography_utils::convert_height(height, latitude, longitude, "INVALID1", "INVALID2"),
+    std::invalid_argument);
+}
+
+// Test case to verify invalid source datums
+TEST(Tier4GeographyUtils, InvalidSourceDatum)
+{
+  const double height = 10.0;
+  const double latitude = 35.0;
+  const double longitude = 139.0;
+
+  EXPECT_THROW(
+    geography_utils::convert_height(height, latitude, longitude, "INVALID1", "WGS84"),
+    std::invalid_argument);
+}
+
+// Test case to verify invalid target datums
+TEST(Tier4GeographyUtils, InvalidTargetDatum)
+{
+  const double height = 10.0;
+  const double latitude = 35.0;
+  const double longitude = 139.0;
+
+  EXPECT_THROW(
+    geography_utils::convert_height(height, latitude, longitude, "WGS84", "INVALID2"),
+    std::invalid_argument);
+}
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

localization/ar_tag_based_localizer/src/tag_tf_caster_core.cpp

@@ -19,6 +19,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+#include <lanelet2_core/LaneletMap.h>
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_eigen/tf2_eigen.h>
 #else

map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp

@@ -21,6 +21,7 @@
 #include <lanelet2_core/geometry/Lanelet.h>
 #include <lanelet2_core/primitives/LaneletSequence.h>
 #include <lanelet2_io/Io.h>
+#include <lanelet2_routing/RoutingGraph.h>
 
 #include <iostream>
 #include <unordered_set>

perception/map_based_prediction/package.xml

@@ -9,6 +9,7 @@
   <maintainer email="[email protected]">Shunsuke Miura</maintainer>
   <maintainer email="[email protected]">Yoshi Ri</maintainer>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>
+  <maintainer email="[email protected]">Kyoichi Sugahara</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

perception/radar_fusion_to_detected_object/README.md

@@ -13,11 +13,11 @@ The document of core algorithm is [here](docs/algorithm.md)
 
 ### Parameters for sensor fusion
 
-| Name                     | Type   | Description                                                                                                                                                                                                                                                                      | Default value |
-| :----------------------- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
-| bounding_box_margin      | double | The distance to extend the 2D bird's-eye view Bounding Box on each side. This distance is used as a threshold to find radar centroids falling inside the extended box. [m]                                                                                                       | 2.0           |
-| split_threshold_velocity | double | The object's velocity threshold to decide to split for two objects from radar information (currently not implemented) [m/s]                                                                                                                                                      | 5.0           |
-| threshold_yaw_diff       | double | The yaw orientation threshold. If $ \vert \theta _{ob} - \theta_ {ra} \vert < threshold*yaw_diff $ attached to radar information include estimated velocity, where $ \theta*{ob} $ is yaw angle from 3d detected object, $ \theta\_ {ra} $ is yaw angle from radar object. [rad] | 0.35          |
+| Name                     | Type   | Description                                                                                                                                                                                                                    | Default value |
+| :----------------------- | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
+| bounding_box_margin      | double | The distance to extend the 2D bird's-eye view Bounding Box on each side. This distance is used as a threshold to find radar centroids falling inside the extended box. [m]                                                     | 2.0           |
+| split_threshold_velocity | double | The object's velocity threshold to decide to split for two objects from radar information (currently not implemented) [m/s]                                                                                                    | 5.0           |
+| threshold_yaw_diff       | double | The yaw orientation threshold. If ∣*θob* − *θra*∣ < threshold × yaw*diff attached to radar information include estimated velocity, where*θob*is yaw angle from 3d detected object,*θra\_ is yaw angle from radar object. [rad] | 0.35          |
 
 ### Weight parameters for velocity estimation