refactor(lidar_centerpoint)!: fix namespace and directory structure #8049

MasatoSaeki · 2024-07-16T09:47:40Z

Description

This PR puts headers in the autoware namespace.

Additional works

Align directory structure to follow the coding guidelines.
Clean unused dependencies LIST

How was this PR tested?

Tested in a local recompute environment how to test.
And also tested colcon test. results is below.

autoware_lidar_centerpoint


$ colcon test --merge-install --packages-select autoware_lidar_centerpoint --event-handlers console_cohesion+
Starting >>> autoware_lidar_centerpoint
--- output: autoware_lidar_centerpoint
UpdateCTestConfiguration  from :/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/CTestConfiguration.ini
Parse Config file:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/CTestConfiguration.ini
   Site: dpc2403005
   Build name: (empty)
 Add coverage exclude regular expressions.
Create new tag: 20240716-0939 - Experimental
UpdateCTestConfiguration  from :/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/CTestConfiguration.ini
Parse Config file:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/CTestConfiguration.ini
Test project /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint
Constructing a list of tests
Done constructing a list of tests
Updating test list for fixtures
Added 0 tests to meet fixture requirements
Checking test dependency graph...
Checking test dependency graph end
test 1
    Start 1: copyright
1: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/copyright.xunit.xml" "--package-name" "autoware_lidar_centerpoint" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/ament_copyright/copyright.txt" "--command" "/opt/ros/humble/bin/ament_copyright" "--xunit-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/copyright.xunit.xml"

1: Test timeout computed to be: 200

1: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/autoware_lidar_centerpoint':

1:  - /opt/ros/humble/bin/ament_copyright --xunit-file /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/copyright.xunit.xml

1: No problems found, checked 35 files

1: -- run_test.py: return code 0

1: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/copyright.xunit.xml'

1/7 Test #1: copyright ........................   Passed    0.72 sec

test 2

Start 2: cppcheck
2: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/cppcheck.xunit.xml" "--package-name" "autoware_lidar_centerpoint" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/ament_cppcheck/cppcheck.txt" "--command" "/opt/ros/humble/bin/ament_cppcheck" "--xunit-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/cppcheck.xunit.xml" "--include_dirs" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/autoware_lidar_centerpoint/include" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/autoware_lidar_centerpoint/include"

2: Test timeout computed to be: 300

2: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/autoware_lidar_centerpoint':

2:  - /opt/ros/humble/bin/ament_cppcheck --xunit-file /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/cppcheck.xunit.xml --include_dirs /home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/autoware_lidar_centerpoint/include /home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/autoware_lidar_centerpoint/include

2: cppcheck 2.7 has known performance issues and therefore will not be used, set the AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS environment variable to override this.

2: -- run_test.py: return code 0

2: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/cppcheck.xunit.xml'

2/7 Test #2: cppcheck .........................   Passed    0.13 sec

test 3

Start 3: lint_cmake
3: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/lint_cmake.xunit.xml" "--package-name" "autoware_lidar_centerpoint" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/ament_lint_cmake/lint_cmake.txt" "--command" "/opt/ros/humble/bin/ament_lint_cmake" "--xunit-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/lint_cmake.xunit.xml"

3: Test timeout computed to be: 60

3: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/autoware_lidar_centerpoint':

3:  - /opt/ros/humble/bin/ament_lint_cmake --xunit-file /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/lint_cmake.xunit.xml

3:

3: No problems found

3: -- run_test.py: return code 0

3: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/lint_cmake.xunit.xml'

3/7 Test #3: lint_cmake .......................   Passed    0.12 sec

test 4

Start 4: xmllint
4: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/xmllint.xunit.xml" "--package-name" "autoware_lidar_centerpoint" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/ament_xmllint/xmllint.txt" "--command" "/opt/ros/humble/bin/ament_xmllint" "--xunit-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/xmllint.xunit.xml"

4: Test timeout computed to be: 60

4: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/autoware_lidar_centerpoint':

4:  - /opt/ros/humble/bin/ament_xmllint --xunit-file /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/xmllint.xunit.xml

4: File 'package.xml' is valid

4:

4: File 'launch/lidar_centerpoint.launch.xml' is valid

4:

4: No problems found

4: -- run_test.py: return code 0

4: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/xmllint.xunit.xml'

4/7 Test #4: xmllint ..........................   Passed    1.20 sec

test 5

Start 5: test_detection_class_remapper
5: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_detection_class_remapper.gtest.xml" "--package-name" "autoware_lidar_centerpoint" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/ament_cmake_gtest/test_detection_class_remapper.txt" "--command" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_detection_class_remapper" "--gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_detection_class_remapper.gtest.xml"

5: Test timeout computed to be: 60

5: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint':

5:  - /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_detection_class_remapper --gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_detection_class_remapper.gtest.xml

5: [==========] Running 1 test from 1 test suite.

5: [----------] Global test environment set-up.

5: [----------] 1 test from DetectionClassRemapperTest

5: [ RUN      ] DetectionClassRemapperTest.MapClasses

5: [       OK ] DetectionClassRemapperTest.MapClasses (1 ms)

5: [----------] 1 test from DetectionClassRemapperTest (1 ms total)

5:

5: [----------] Global test environment tear-down

5: [==========] 1 test from 1 test suite ran. (1 ms total)

5: [  PASSED  ] 1 test.

5: -- run_test.py: return code 0

5: -- run_test.py: inject classname prefix into gtest result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_detection_class_remapper.gtest.xml'

5: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_detection_class_remapper.gtest.xml'

5/7 Test #5: test_detection_class_remapper ....   Passed    0.11 sec

test 6

Start 6: test_ros_utils
6: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_ros_utils.gtest.xml" "--package-name" "autoware_lidar_centerpoint" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/ament_cmake_gtest/test_ros_utils.txt" "--command" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_ros_utils" "--gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_ros_utils.gtest.xml"

6: Test timeout computed to be: 60

6: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint':

6:  - /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_ros_utils --gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_ros_utils.gtest.xml

6: [==========] Running 4 tests from 1 test suite.

6: [----------] Global test environment set-up.

6: [----------] 4 tests from TestSuite

6: [ RUN      ] TestSuite.box3DToDetectedObject

6: [WARN] [1721122781.227287232] [lidar_centerpoint]: Unexpected label: UNKNOWN is set.

6: [       OK ] TestSuite.box3DToDetectedObject (0 ms)

6: [ RUN      ] TestSuite.getSemanticType

6: [       OK ] TestSuite.getSemanticType (0 ms)

6: [ RUN      ] TestSuite.convertPoseCovarianceMatrix

6: [       OK ] TestSuite.convertPoseCovarianceMatrix (0 ms)

6: [ RUN      ] TestSuite.convertTwistCovarianceMatrix

6: [       OK ] TestSuite.convertTwistCovarianceMatrix (0 ms)

6: [----------] 4 tests from TestSuite (0 ms total)

6:

6: [----------] Global test environment tear-down

6: [==========] 4 tests from 1 test suite ran. (0 ms total)

6: [  PASSED  ] 4 tests.

6: -- run_test.py: return code 0

6: -- run_test.py: inject classname prefix into gtest result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_ros_utils.gtest.xml'

6: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_ros_utils.gtest.xml'

6/7 Test #6: test_ros_utils ...................   Passed    0.11 sec

test 7

Start 7: test_nms
7: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_nms.gtest.xml" "--package-name" "autoware_lidar_centerpoint" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/ament_cmake_gtest/test_nms.txt" "--command" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_nms" "--gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_nms.gtest.xml"

7: Test timeout computed to be: 60

7: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint':

7:  - /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_nms --gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_nms.gtest.xml

7: [==========] Running 1 test from 1 test suite.

7: [----------] Global test environment set-up.

7: [----------] 1 test from NonMaximumSuppressionTest

7: [ RUN      ] NonMaximumSuppressionTest.Apply

7: [       OK ] NonMaximumSuppressionTest.Apply (1 ms)

7: [----------] 1 test from NonMaximumSuppressionTest (1 ms total)

7:

7: [----------] Global test environment tear-down

7: [==========] 1 test from 1 test suite ran. (1 ms total)

7: [  PASSED  ] 1 test.

7: -- run_test.py: return code 0

7: -- run_test.py: inject classname prefix into gtest result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_nms.gtest.xml'

7: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/autoware_lidar_centerpoint/test_results/autoware_lidar_centerpoint/test_nms.gtest.xml'

7/7 Test #7: test_nms .........................   Passed    0.11 sec
100% tests passed, 0 tests failed out of 7
Label Time Summary:

copyright     =   0.72 secproc (1 test)

cppcheck      =   0.13 secproc (1 test)

gtest         =   0.34 secproc (3 tests)

lint_cmake    =   0.12 secproc (1 test)

linter        =   2.17 secproc (4 tests)

xmllint       =   1.20 secproc (1 test)
Total Test time (real) =   2.51 sec
Finished <<< autoware_lidar_centerpoint [2.84s]
Summary: 1 package finished [3.50s]

image_projection_based_fusion


$ colcon test --merge-install --packages-select image_projection_based_fusion --event-handlers console_cohesion+
Starting >>> image_projection_based_fusion
--- output: image_projection_based_fusion
UpdateCTestConfiguration  from :/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/CTestConfiguration.ini
Parse Config file:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/CTestConfiguration.ini
   Site: dpc2403005
   Build name: (empty)
 Add coverage exclude regular expressions.
Create new tag: 20240716-0946 - Experimental
UpdateCTestConfiguration  from :/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/CTestConfiguration.ini
Parse Config file:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/CTestConfiguration.ini
Test project /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion
Constructing a list of tests
Done constructing a list of tests
Updating test list for fixtures
Added 0 tests to meet fixture requirements
Checking test dependency graph...
Checking test dependency graph end
test 1
    Start 1: test_calc_iou_functions
1: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_calc_iou_functions.gtest.xml" "--package-name" "image_projection_based_fusion" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/ament_cmake_gtest/test_calc_iou_functions.txt" "--command" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_calc_iou_functions" "--gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_calc_iou_functions.gtest.xml"

1: Test timeout computed to be: 60

1: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion':

1:  - /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_calc_iou_functions --gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_calc_iou_functions.gtest.xml

1: [==========] Running 3 tests from 1 test suite.

1: [----------] Global test environment set-up.

1: [----------] 3 tests from GeometryTest

1: [ RUN      ] GeometryTest.CalcIoU

1: [       OK ] GeometryTest.CalcIoU (0 ms)

1: [ RUN      ] GeometryTest.CalcIoUX

1: [       OK ] GeometryTest.CalcIoUX (0 ms)

1: [ RUN      ] GeometryTest.CalcIoUY

1: [       OK ] GeometryTest.CalcIoUY (0 ms)

1: [----------] 3 tests from GeometryTest (1 ms total)

1:

1: [----------] Global test environment tear-down

1: [==========] 3 tests from 1 test suite ran. (1 ms total)

1: [  PASSED  ] 3 tests.

1: -- run_test.py: return code 0

1: -- run_test.py: inject classname prefix into gtest result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_calc_iou_functions.gtest.xml'

1: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_calc_iou_functions.gtest.xml'

1/8 Test #1: test_calc_iou_functions ..........   Passed    0.22 sec

test 2

Start 2: test_utils
2: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_utils.gtest.xml" "--package-name" "image_projection_based_fusion" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/ament_cmake_gtest/test_utils.txt" "--command" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_utils" "--gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_utils.gtest.xml"

2: Test timeout computed to be: 60

2: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion':

2:  - /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_utils --gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_utils.gtest.xml

2: [==========] Running 4 tests from 1 test suite.

2: [----------] Global test environment set-up.

2: [----------] 4 tests from UtilsTest

2: [ RUN      ] UtilsTest.closest_cluster_empty_cluster_test_case1

2: [       OK ] UtilsTest.closest_cluster_empty_cluster_test_case1 (0 ms)

2: [ RUN      ] UtilsTest.closest_cluster_test_case2

2: [       OK ] UtilsTest.closest_cluster_test_case2 (0 ms)

2: [ RUN      ] UtilsTest.closest_cluster_test_case3

2: [       OK ] UtilsTest.closest_cluster_test_case3 (0 ms)

2: [ RUN      ] UtilsTest.closest_cluster_test_case4

2: [       OK ] UtilsTest.closest_cluster_test_case4 (0 ms)

2: [----------] 4 tests from UtilsTest (0 ms total)

2:

2: [----------] Global test environment tear-down

2: [==========] 4 tests from 1 test suite ran. (0 ms total)

2: [  PASSED  ] 4 tests.

2: -- run_test.py: return code 0

2: -- run_test.py: inject classname prefix into gtest result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_utils.gtest.xml'

2: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_utils.gtest.xml'

2/8 Test #2: test_utils .......................   Passed    0.22 sec

test 3

Start 3: test_geometry
3: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_geometry.gtest.xml" "--package-name" "image_projection_based_fusion" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/ament_cmake_gtest/test_geometry.txt" "--command" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_geometry" "--gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_geometry.gtest.xml"

3: Test timeout computed to be: 60

3: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion':

3:  - /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_geometry --gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_geometry.gtest.xml

3: [==========] Running 4 tests from 4 test suites.

3: [----------] Global test environment set-up.

3: [----------] 1 test from objectToVertices

3: [ RUN      ] objectToVertices.test_objectToVertices

3: [WARN] [1721123183.148698956] [image_projection_based_fusion]: POLYGON is not supported

3: [       OK ] objectToVertices.test_objectToVertices (0 ms)

3: [----------] 1 test from objectToVertices (0 ms total)

3:

3: [----------] 1 test from transformPoints

3: [ RUN      ] transformPoints.test_transformPoints

3: [       OK ] transformPoints.test_transformPoints (0 ms)

3: [----------] 1 test from transformPoints (0 ms total)

3:

3: [----------] 1 test from is_inside

3: [ RUN      ] is_inside.test_is_inside

3: [       OK ] is_inside.test_is_inside (0 ms)

3: [----------] 1 test from is_inside (0 ms total)

3:

3: [----------] 1 test from sanitizeROI

3: [ RUN      ] sanitizeROI.test_sanitizeROI

3: [       OK ] sanitizeROI.test_sanitizeROI (0 ms)

3: [----------] 1 test from sanitizeROI (1 ms total)

3:

3: [----------] Global test environment tear-down

3: [==========] 4 tests from 4 test suites ran. (1 ms total)

3: [  PASSED  ] 4 tests.

3: -- run_test.py: return code 0

3: -- run_test.py: inject classname prefix into gtest result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_geometry.gtest.xml'

3: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_geometry.gtest.xml'

3/8 Test #3: test_geometry ....................   Passed    0.22 sec

test 4

Start 4: test_pointpainting
4: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_pointpainting.gtest.xml" "--package-name" "image_projection_based_fusion" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/ament_cmake_gtest/test_pointpainting.txt" "--command" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_pointpainting" "--gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_pointpainting.gtest.xml"

4: Test timeout computed to be: 60

4: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion':

4:  - /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_pointpainting --gtest_output=xml:/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_pointpainting.gtest.xml

4: Running main() from /opt/ros/humble/src/gtest_vendor/src/gtest_main.cc

4: [==========] Running 4 tests from 1 test suite.

4: [----------] Global test environment set-up.

4: [----------] 4 tests from isInsideBboxTest

4: [ RUN      ] isInsideBboxTest.Inside

4: [       OK ] isInsideBboxTest.Inside (0 ms)

4: [ RUN      ] isInsideBboxTest.Border

4: [       OK ] isInsideBboxTest.Border (0 ms)

4: [ RUN      ] isInsideBboxTest.Outside

4: [       OK ] isInsideBboxTest.Outside (0 ms)

4: [ RUN      ] isInsideBboxTest.Zero

4: [       OK ] isInsideBboxTest.Zero (0 ms)

4: [----------] 4 tests from isInsideBboxTest (0 ms total)

4:

4: [----------] Global test environment tear-down

4: [==========] 4 tests from 1 test suite ran. (0 ms total)

4: [  PASSED  ] 4 tests.

4: -- run_test.py: return code 0

4: -- run_test.py: inject classname prefix into gtest result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_pointpainting.gtest.xml'

4: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/test_pointpainting.gtest.xml'

4/8 Test #4: test_pointpainting ...............   Passed    0.11 sec

test 5

Start 5: copyright
5: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/copyright.xunit.xml" "--package-name" "image_projection_based_fusion" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/ament_copyright/copyright.txt" "--command" "/opt/ros/humble/bin/ament_copyright" "--xunit-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/copyright.xunit.xml"

5: Test timeout computed to be: 200

5: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/image_projection_based_fusion':

5:  - /opt/ros/humble/bin/ament_copyright --xunit-file /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/copyright.xunit.xml

5: No problems found, checked 29 files

5: -- run_test.py: return code 0

5: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/copyright.xunit.xml'

5/8 Test #5: copyright ........................   Passed    0.62 sec

test 6

Start 6: cppcheck
6: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/cppcheck.xunit.xml" "--package-name" "image_projection_based_fusion" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/ament_cppcheck/cppcheck.txt" "--command" "/opt/ros/humble/bin/ament_cppcheck" "--xunit-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/cppcheck.xunit.xml" "--include_dirs" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/image_projection_based_fusion/include"

6: Test timeout computed to be: 300

6: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/image_projection_based_fusion':

6:  - /opt/ros/humble/bin/ament_cppcheck --xunit-file /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/cppcheck.xunit.xml --include_dirs /home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/image_projection_based_fusion/include

6: cppcheck 2.7 has known performance issues and therefore will not be used, set the AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS environment variable to override this.

6: -- run_test.py: return code 0

6: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/cppcheck.xunit.xml'

6/8 Test #6: cppcheck .........................   Passed    0.13 sec

test 7

Start 7: lint_cmake
7: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/lint_cmake.xunit.xml" "--package-name" "image_projection_based_fusion" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/ament_lint_cmake/lint_cmake.txt" "--command" "/opt/ros/humble/bin/ament_lint_cmake" "--xunit-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/lint_cmake.xunit.xml"

7: Test timeout computed to be: 60

7: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/image_projection_based_fusion':

7:  - /opt/ros/humble/bin/ament_lint_cmake --xunit-file /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/lint_cmake.xunit.xml

7:

7: No problems found

7: -- run_test.py: return code 0

7: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/lint_cmake.xunit.xml'

7/8 Test #7: lint_cmake .......................   Passed    0.12 sec

test 8

Start 8: xmllint
8: Test command: /usr/bin/python3.10 "-u" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/install/share/ament_cmake_test/cmake/run_test.py" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/xmllint.xunit.xml" "--package-name" "image_projection_based_fusion" "--output-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/ament_xmllint/xmllint.txt" "--command" "/opt/ros/humble/bin/ament_xmllint" "--xunit-file" "/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/xmllint.xunit.xml"

8: Test timeout computed to be: 60

8: -- run_test.py: invoking following command in '/home/masatosaeki/t4/pilot-auto_centerpoint/src/autoware/universe/perception/image_projection_based_fusion':

8:  - /opt/ros/humble/bin/ament_xmllint --xunit-file /home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/xmllint.xunit.xml

8: File 'package.xml' is valid

8:

8: File 'launch/pointpainting_fusion.launch.xml' is valid

8:

8: File 'launch/roi_cluster_fusion.launch.xml' is valid

8:

8: File 'launch/roi_detected_object_fusion.launch.xml' is valid

8:

8: File 'launch/roi_pointcloud_fusion.launch.xml' is valid

8:

8: File 'launch/segmentation_pointcloud_fusion.launch.xml' is valid

8:

8: No problems found

8: -- run_test.py: return code 0

8: -- run_test.py: verify result file '/home/masatosaeki/t4/pilot-auto_centerpoint/src/build/image_projection_based_fusion/test_results/image_projection_based_fusion/xmllint.xunit.xml'

8/8 Test #8: xmllint ..........................   Passed    0.56 sec
100% tests passed, 0 tests failed out of 8
Label Time Summary:

copyright     =   0.62 secproc (1 test)

cppcheck      =   0.13 secproc (1 test)

gtest         =   0.76 secproc (4 tests)

lint_cmake    =   0.12 secproc (1 test)

linter        =   1.43 secproc (4 tests)

xmllint       =   0.56 secproc (1 test)
Total Test time (real) =   2.20 sec
Finished <<< image_projection_based_fusion [2.61s]
Summary: 1 package finished [3.27s]

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

Signed-off-by: MasatoSaeki <[email protected]>

github-actions · 2024-07-16T09:47:56Z

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

You've checked our contribution guidelines.
Your PR follows our pull request guidelines.
All required CI checks pass before marking the PR ready for review.

Signed-off-by: MasatoSaeki <[email protected]>

codecov · 2024-07-22T07:15:21Z

Codecov Report

Attention: Patch coverage is 42.85714% with 8 lines in your changes missing coverage. Please review.

Project coverage is 29.13%. Comparing base (ab841bc) to head (b207632).
Report is 12 commits behind head on main.

Files	Patch %	Lines
...ion_based_fusion/src/pointpainting_fusion/node.cpp	0.00%	2 Missing ⚠️
.../pointpainting_fusion/pointcloud_densification.cpp	0.00%	2 Missing ⚠️
...ion/src/pointpainting_fusion/pointpainting_trt.cpp	0.00%	2 Missing ⚠️
perception/autoware_lidar_centerpoint/src/node.cpp	0.00%	1 Missing ⚠️
...usion/src/pointpainting_fusion/voxel_generator.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #8049    +/-   ##
========================================
  Coverage   29.13%   29.13%            
========================================
  Files        1609     1635    +26     
  Lines      118141   118835   +694     
  Branches    50848    51057   +209     
========================================
+ Hits        34419    34622   +203     
- Misses      74494    74965   +471     
- Partials     9228     9248    +20

Flag	Coverage Δ		*Carryforward flag
differential	`8.79% <42.85%> (?)`
total	`29.14% <ø> (+0.01%)`	⬆️	Carriedforward from 5b820c6

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

knzo25 · 2024-07-22T07:33:16Z

@MasatoSaeki
This PR also affects other repositories and thus be merged together right? (I have been receiving several notifications from draft PRs). Can you paste them here to check them together?

MasatoSaeki · 2024-07-22T07:44:29Z

@knzo25
There are some repositories which is effected (e.g. edge_auto_launch), but No repositories need to be merged at exactly the same time, I think.

knzo25 · 2024-07-22T08:52:12Z

@MasatoSaeki
Then I will leave some comments here about other files that I have some concerns here. Some are only to keep things consistent. Some are more real concerns:

src/autoware/launcher/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml uses the word lidar_centerpoint which I do not if should have the prefix also or not
src/autoware/ml_model_provider/README.md does not reflect the new changes
src/autoware/ml_model_provider/ml_model_provider/scripts/convert_onnx_to_trt_engine.sh same

knzo25 · 2024-07-22T09:09:03Z

@MasatoSaeki

Question: Since the package changed name, maybe rclcpp::get_logger("lidar_centerpoint") calls should become rclcpp::get_logger("autoware_lidar_centerpoint"). What do you think?

Optional: Transfusion already addressed this, but the namespace for the previously called lidar_centerpoint was centerpoint, not lidar_centerpoint. We may use this chance (since you are already modifying the relevant files) to address this mismatch

MasatoSaeki · 2024-07-22T09:43:51Z

@knzo25
Thank you for your input

src/autoware/launcher/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml uses the word lidar_centerpoint which I do not if should have the prefix also or not

It is ok. I confirmed that to mot's code owner.

src/autoware/ml_model_provider/README.md does not reflect the new changes
src/autoware/ml_model_provider/ml_model_provider/scripts/convert_onnx_to_trt_engine.sh same

We need to handle this. So I will do later.

Question: Since the package changed name, maybe rclcpp::get_logger("lidar_centerpoint") calls should become rclcpp::get_logger("autoware_lidar_centerpoint"). What do you think?

Either is good for me. If you recommend autoware_lidar_centerpoint, I change like that in centerpoint and transfusion.

Optional: Transfusion already addressed this, but the namespace for the previously called lidar_centerpoint was centerpoint, not lidar_centerpoint. We may use this chance (since you are already modifying the relevant files) to address this mismatch

It is true. Please wait a moment while I handle this.

Signed-off-by: MasatoSaeki <[email protected]>

MasatoSaeki · 2024-07-22T10:08:25Z

I changed namespace from centerpoint to lidar_centerpoint in 5b820c6
I have already checked colcon test and logging simulator

knzo25

LGTM

YoshiRi

LGTM

…utowarefoundation#8049) * add prefix in lidar_centerpoint Signed-off-by: MasatoSaeki <[email protected]> * add .gitignore Signed-off-by: MasatoSaeki <[email protected]> * change include package name in image_projection_based fusion Signed-off-by: MasatoSaeki <[email protected]> * fix Signed-off-by: MasatoSaeki <[email protected]> * change in codeowner Signed-off-by: MasatoSaeki <[email protected]> * delete package Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix * style(pre-commit): autofix * solve conflict too Signed-off-by: MasatoSaeki <[email protected]> * fix include file Signed-off-by: MasatoSaeki <[email protected]> * fix typo in launch file Signed-off-by: MasatoSaeki <[email protected]> * add prefix in README Signed-off-by: MasatoSaeki <[email protected]> * fix bugs by conflict Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix * change namespace from to Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: MasatoSaeki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

MasatoSaeki added 6 commits July 16, 2024 15:55

add prefix in lidar_centerpoint

02ee90f

Signed-off-by: MasatoSaeki <[email protected]>

add .gitignore

abadf36

Signed-off-by: MasatoSaeki <[email protected]>

change include package name in image_projection_based fusion

c216bfe

Signed-off-by: MasatoSaeki <[email protected]>

fix

ba57d9f

Signed-off-by: MasatoSaeki <[email protected]>

change in codeowner

eef1d39

Signed-off-by: MasatoSaeki <[email protected]>

delete package

d19f998

Signed-off-by: MasatoSaeki <[email protected]>

style(pre-commit): autofix

671ad78

MasatoSaeki mentioned this pull request Jul 16, 2024

refactor(lidar_centerpoint): change package name in lidar_centerpoint tier4/edge_auto_launch#18

Closed

5 tasks

MasatoSaeki and others added 7 commits July 18, 2024 18:08

solve conflict

8091b42

Signed-off-by: MasatoSaeki <[email protected]>

style(pre-commit): autofix

e789816

solve conflict too

81dccc8

Signed-off-by: MasatoSaeki <[email protected]>

fix include file

96cb2e0

Signed-off-by: MasatoSaeki <[email protected]>

fix typo in launch file

d1b701d

Signed-off-by: MasatoSaeki <[email protected]>

add prefix in README

c6668d6

Signed-off-by: MasatoSaeki <[email protected]>

fix bugs by conflict

345f9c0

Signed-off-by: MasatoSaeki <[email protected]>

MasatoSaeki mentioned this pull request Jul 19, 2024

refactor(lidar_centerpoint): add prefix at lidar_centerpoint tier4/edge_auto_launch#20

Merged

5 tasks

MasatoSaeki and others added 4 commits July 22, 2024 14:05

Merge branch 'main' into refactor/lidar_centerpoint/autoware_prefix

1c4e1a4

style(pre-commit): autofix

3458a89

Merge branch 'main' into refactor/lidar_centerpoint/autoware_prefix

8de1ce3

Merge branch 'main' into refactor/lidar_centerpoint/autoware_prefix

d7527e0

MasatoSaeki marked this pull request as ready for review July 22, 2024 07:07

MasatoSaeki requested review from knzo25, kminoda, badai-nguyen and ktro2828 as code owners July 22, 2024 07:07

MasatoSaeki requested review from miursh, tzhong518, YoshiRi, yukkysaito and technolojin as code owners July 22, 2024 07:07

MasatoSaeki added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 22, 2024

change namespace from to

5b820c6

Signed-off-by: MasatoSaeki <[email protected]>

Merge branch 'main' into refactor/lidar_centerpoint/autoware_prefix

a7b8d63

knzo25 approved these changes Jul 22, 2024

View reviewed changes

style(pre-commit): autofix

86ef16d

YoshiRi approved these changes Jul 22, 2024

View reviewed changes

knzo25 and others added 2 commits July 22, 2024 19:30

Merge branch 'main' into refactor/lidar_centerpoint/autoware_prefix

b207632

Merge branch 'main' into refactor/lidar_centerpoint/autoware_prefix

d54004d

MasatoSaeki enabled auto-merge (squash) July 23, 2024 00:52

MasatoSaeki merged commit fec9d42 into autowarefoundation:main Jul 23, 2024
21 of 23 checks passed

MasatoSaeki deleted the refactor/lidar_centerpoint/autoware_prefix branch August 27, 2024 00:37

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refactor(lidar_centerpoint)!: fix namespace and directory structure #8049

refactor(lidar_centerpoint)!: fix namespace and directory structure #8049

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refactor(lidar_centerpoint)!: fix namespace and directory structure #8049

refactor(lidar_centerpoint)!: fix namespace and directory structure #8049

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MasatoSaeki commented Jul 16, 2024 • edited Loading

Description

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How was this PR tested?

autoware_lidar_centerpoint

Total Test time (real) = 2.51 sec

image_projection_based_fusion

Total Test time (real) = 2.20 sec

Notes for reviewers

Interface changes

Effects on system behavior

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codecov bot commented Jul 22, 2024 •

edited

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