Refactor publisher types in fusion_node.hpp and node.hpp

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

Author: technolojin

perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp

@@ -166,7 +166,7 @@ class FusionNode : public rclcpp::Node
   std::mutex mutex_det3d_msg_;
 
   // output publisher
-  // typename rclcpp::Publisher<Msg3D>::SharedPtr pub_ptr_;
+  typename rclcpp::Publisher<ExportObj>::SharedPtr pub_ptr_;
 
   // debugger
   std::shared_ptr<Debugger> debugger_;

perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp

@@ -57,8 +57,7 @@ class PointPaintingFusionNode : public FusionNode<PointCloudMsgType, RoiMsgType,
 
   void publish(const PointCloudMsgType & output_msg) override;
 
-  rclcpp::Publisher<DetectedObjects>::SharedPtr obj_pub_ptr_;
-  rclcpp::Publisher<PointCloudMsgType>::SharedPtr pub_ptr_;
+  rclcpp::Publisher<PointCloudMsgType>::SharedPtr point_pub_ptr_;
 
   int omp_num_threads_{1};
   float score_threshold_{0.0};

perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp

@@ -38,8 +38,6 @@ class RoiClusterFusionNode : public FusionNode<ClusterMsgType, RoiMsgType, Clust
     const ClusterMsgType & input_cluster_msg, const Det2dManager<RoiMsgType> & det2d,
     const RoiMsgType & input_roi_msg, ClusterMsgType & output_cluster_msg) override;
 
-  rclcpp::Publisher<ClusterMsgType>::SharedPtr pub_ptr_;
-
 private:
   std::string trust_object_iou_mode_{"iou"};
   bool use_cluster_semantic_type_{false};

perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp

@@ -56,8 +56,6 @@ class RoiDetectedObjectFusionNode : public FusionNode<DetectedObjects, RoiMsgTyp
 
   bool out_of_scope(const DetectedObject & obj);
 
-  rclcpp::Publisher<DetectedObjects>::SharedPtr pub_ptr_;
-
 private:
   struct
   {

perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp

@@ -31,8 +31,7 @@ class RoiPointCloudFusionNode : public FusionNode<PointCloudMsgType, RoiMsgType,
   explicit RoiPointCloudFusionNode(const rclcpp::NodeOptions & options);
 
 protected:
-  rclcpp::Publisher<ClusterMsgType>::SharedPtr pub_objects_ptr_;
-  rclcpp::Publisher<PointCloudMsgType>::SharedPtr pub_ptr_;
+  rclcpp::Publisher<PointCloudMsgType>::SharedPtr point_pub_ptr_;
   rclcpp::Publisher<PointCloudMsgType>::SharedPtr cluster_debug_pub_;
 
   void postprocess(PointCloudMsgType & pointcloud_msg) override;

perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp

@@ -58,9 +58,6 @@ 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_;
 

perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp

@@ -162,8 +162,8 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
     "~/input/pointcloud", rclcpp::SensorDataQoS().keep_last(3), sub_callback);
 
   // publisher
-  pub_ptr_ = this->create_publisher<PointCloudMsgType>("output", rclcpp::QoS{1});
-  obj_pub_ptr_ = this->create_publisher<DetectedObjects>("~/output/objects", rclcpp::QoS{1});
+  point_pub_ptr_ = this->create_publisher<PointCloudMsgType>("output", rclcpp::QoS{1});
+  pub_ptr_ = this->create_publisher<DetectedObjects>("~/output/objects", rclcpp::QoS{1});
 
   detection_class_remapper_.setParameters(
     allow_remapping_by_area_matrix, min_area_matrix, max_area_matrix);
@@ -383,7 +383,7 @@ void PointPaintingFusionNode::postprocess(PointCloudMsgType & painted_pointcloud
   if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
 
   const auto objects_sub_count =
-    obj_pub_ptr_->get_subscription_count() + obj_pub_ptr_->get_intra_process_subscription_count();
+    pub_ptr_->get_subscription_count() + pub_ptr_->get_intra_process_subscription_count();
   if (objects_sub_count < 1) {
     return;
   }
@@ -415,16 +415,16 @@ void PointPaintingFusionNode::postprocess(PointCloudMsgType & painted_pointcloud
   detection_class_remapper_.mapClasses(output_msg);
 
   if (objects_sub_count > 0) {
-    obj_pub_ptr_->publish(output_msg);
+    pub_ptr_->publish(output_msg);
   }
 }
 
 void PointPaintingFusionNode::publish(const PointCloudMsgType & painted_pointcloud_msg)
 {
-  if (pub_ptr_->get_subscription_count() < 1) {
+  if (point_pub_ptr_->get_subscription_count() < 1) {
     return;
   }
-  pub_ptr_->publish(painted_pointcloud_msg);
+  point_pub_ptr_->publish(painted_pointcloud_msg);
 }
 
 }  // namespace autoware::image_projection_based_fusion

perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp

@@ -45,8 +45,8 @@ RoiPointCloudFusionNode::RoiPointCloudFusionNode(const rclcpp::NodeOptions & opt
   cluster_2d_tolerance_ = declare_parameter<double>("cluster_2d_tolerance");
 
   // publisher
-  pub_ptr_ = this->create_publisher<PointCloudMsgType>("output", rclcpp::QoS{1});
-  pub_objects_ptr_ = this->create_publisher<ClusterMsgType>("output_clusters", rclcpp::QoS{1});
+  point_pub_ptr_ = this->create_publisher<PointCloudMsgType>("output", rclcpp::QoS{1});
+  pub_ptr_ = this->create_publisher<ClusterMsgType>("output_clusters", rclcpp::QoS{1});
   cluster_debug_pub_ = this->create_publisher<PointCloudMsgType>("debug/clusters", 1);
 }
 
@@ -55,8 +55,8 @@ void RoiPointCloudFusionNode::postprocess(PointCloudMsgType & pointcloud_msg)
   std::unique_ptr<ScopedTimeTrack> st_ptr;
   if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
 
-  const auto objects_sub_count = pub_objects_ptr_->get_subscription_count() +
-                                 pub_objects_ptr_->get_intra_process_subscription_count();
+  const auto objects_sub_count =
+    pub_ptr_->get_subscription_count() + pub_ptr_->get_intra_process_subscription_count();
   if (objects_sub_count < 1) {
     return;
   }
@@ -66,7 +66,7 @@ void RoiPointCloudFusionNode::postprocess(PointCloudMsgType & pointcloud_msg)
   output_msg.feature_objects = output_fused_objects_;
 
   if (objects_sub_count > 0) {
-    pub_objects_ptr_->publish(output_msg);
+    pub_ptr_->publish(output_msg);
   }
   output_fused_objects_.clear();
   // publish debug cluster
@@ -199,10 +199,10 @@ void RoiPointCloudFusionNode::fuseOnSingleImage(
 
 void RoiPointCloudFusionNode::publish(const PointCloudMsgType & output_msg)
 {
-  if (pub_ptr_->get_subscription_count() < 1) {
+  if (point_pub_ptr_->get_subscription_count() < 1) {
     return;
   }
-  pub_ptr_->publish(output_msg);
+  point_pub_ptr_->publish(output_msg);
 }
 
 }  // namespace autoware::image_projection_based_fusion