Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Author: technolojin

Diff for: perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp

@@ -40,6 +40,7 @@ class RoiClusterFusionNode : public FusionNode<ClusterMsgType, RoiMsgType, Clust
 
   rclcpp::Publisher<ClusterMsgType>::SharedPtr pub_ptr_;
 
+private:
   std::string trust_object_iou_mode_{"iou"};
   bool use_cluster_semantic_type_{false};
   bool only_allow_inside_cluster_{false};

Diff for: perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp

@@ -27,22 +27,13 @@ namespace autoware::image_projection_based_fusion
 {
 class RoiPointCloudFusionNode : public FusionNode<PointCloudMsgType, RoiMsgType, ClusterMsgType>
 {
-private:
-  int min_cluster_size_{1};
-  int max_cluster_size_{20};
-  bool fuse_unknown_only_{true};
-  double cluster_2d_tolerance_;
-
-  rclcpp::Publisher<ClusterMsgType>::SharedPtr pub_objects_ptr_;
-  std::vector<ClusterObjType> output_fused_objects_;
-  rclcpp::Publisher<PointCloudMsgType>::SharedPtr cluster_debug_pub_;
-
-  /* data */
 public:
   explicit RoiPointCloudFusionNode(const rclcpp::NodeOptions & options);
 
 protected:
+  rclcpp::Publisher<ClusterMsgType>::SharedPtr pub_objects_ptr_;
   rclcpp::Publisher<PointCloudMsgType>::SharedPtr pub_ptr_;
+  rclcpp::Publisher<PointCloudMsgType>::SharedPtr cluster_debug_pub_;
 
   void postprocess(PointCloudMsgType & pointcloud_msg) override;
 
@@ -51,6 +42,14 @@ class RoiPointCloudFusionNode : public FusionNode<PointCloudMsgType, RoiMsgType,
     const RoiMsgType & input_roi_msg, PointCloudMsgType & output_pointcloud_msg) override;
 
   void publish(const PointCloudMsgType & output_msg) override;
+
+private:
+  int min_cluster_size_{1};
+  int max_cluster_size_{20};
+  bool fuse_unknown_only_{true};
+  double cluster_2d_tolerance_;
+
+  std::vector<ClusterObjType> output_fused_objects_;
 };
 
 }  // namespace autoware::image_projection_based_fusion

Diff for: perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp

@@ -36,21 +36,6 @@ namespace autoware::image_projection_based_fusion
 {
 class SegmentPointCloudFusionNode : public FusionNode<PointCloudMsgType, Image, PointCloudMsgType>
 {
-private:
-  rclcpp::Publisher<PointCloudMsgType>::SharedPtr pub_pointcloud_ptr_;
-  std::vector<bool> filter_semantic_label_target_;
-  float filter_distance_threshold_;
-  // declare list of semantic label target, depend on trained data of yolox segmentation model
-  std::vector<std::pair<std::string, bool>> filter_semantic_label_target_list_ = {
-    {"UNKNOWN", false},       {"BUILDING", false},     {"WALL", false},       {"OBSTACLE", false},
-    {"TRAFFIC_LIGHT", false}, {"TRAFFIC_SIGN", false}, {"PERSON", false},     {"VEHICLE", false},
-    {"BIKE", false},          {"ROAD", false},         {"SIDEWALK", false},   {"ROAD_PAINT", false},
-    {"CURBSTONE", false},     {"CROSSWALK", false},    {"VEGETATION", false}, {"SKY", false}};
-
-  image_transport::Publisher pub_debug_mask_ptr_;
-  bool is_publish_debug_mask_;
-  std::unordered_set<size_t> filter_global_offset_set_;
-
 public:
   explicit SegmentPointCloudFusionNode(const rclcpp::NodeOptions & options);
 
@@ -73,7 +58,24 @@ class SegmentPointCloudFusionNode : public FusionNode<PointCloudMsgType, Image,
 
   void publish(const PointCloudMsgType & output_msg) override;
 
+  // publisher
   rclcpp::Publisher<PointCloudMsgType>::SharedPtr pub_ptr_;
+
+  // debug
+  image_transport::Publisher pub_debug_mask_ptr_;
+
+private:
+  std::vector<bool> filter_semantic_label_target_;
+  float filter_distance_threshold_;
+  // declare list of semantic label target, depend on trained data of yolox segmentation model
+  std::vector<std::pair<std::string, bool>> filter_semantic_label_target_list_ = {
+    {"UNKNOWN", false},       {"BUILDING", false},     {"WALL", false},       {"OBSTACLE", false},
+    {"TRAFFIC_LIGHT", false}, {"TRAFFIC_SIGN", false}, {"PERSON", false},     {"VEHICLE", false},
+    {"BIKE", false},          {"ROAD", false},         {"SIDEWALK", false},   {"ROAD_PAINT", false},
+    {"CURBSTONE", false},     {"CROSSWALK", false},    {"VEGETATION", false}, {"SKY", false}};
+
+  bool is_publish_debug_mask_;
+  std::unordered_set<size_t> filter_global_offset_set_;
 };
 
 }  // namespace autoware::image_projection_based_fusion

Diff for: perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp

@@ -288,10 +288,6 @@ void PointPaintingFusionNode::fuseOnSingleImage(
     lidar2cam_affine = _transformToEigen(transform_stamped_optional.value().transform);
   }
 
-  // transform
-  // 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;

Diff for: perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp

@@ -43,11 +43,11 @@ RoiPointCloudFusionNode::RoiPointCloudFusionNode(const rclcpp::NodeOptions & opt
   min_cluster_size_ = declare_parameter<int>("min_cluster_size");
   max_cluster_size_ = declare_parameter<int>("max_cluster_size");
   cluster_2d_tolerance_ = declare_parameter<double>("cluster_2d_tolerance");
-  pub_objects_ptr_ = this->create_publisher<ClusterMsgType>("output_clusters", rclcpp::QoS{1});
-  cluster_debug_pub_ = this->create_publisher<PointCloudMsgType>("debug/clusters", 1);
 
   // publisher
   pub_ptr_ = this->create_publisher<PointCloudMsgType>("output", rclcpp::QoS{1});
+  pub_objects_ptr_ = this->create_publisher<ClusterMsgType>("output_clusters", rclcpp::QoS{1});
+  cluster_debug_pub_ = this->create_publisher<PointCloudMsgType>("debug/clusters", 1);
 }
 
 void RoiPointCloudFusionNode::postprocess(PointCloudMsgType & pointcloud_msg)