feat: port autoware_perception_rviz_plugin from Autoware Universe (#6)

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: mitsudome-r

autoware_perception_rviz_plugin/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_perception_rviz_plugin)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(Qt5 REQUIRED COMPONENTS Widgets)
+
+set(OD_PLUGIN_LIB_SRC
+  src/object_detection/detected_objects_display.cpp
+  src/object_detection/tracked_objects_display.cpp
+  src/object_detection/predicted_objects_display.cpp
+)
+
+set(OD_PLUGIN_LIB_HEADERS
+  include/autoware_perception_rviz_plugin/visibility_control.hpp
+)
+set(OD_PLUGIN_LIB_HEADERS_TO_WRAP
+  include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp
+  include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp
+  include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp
+)
+
+set(COMMON_HEADERS
+  include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp
+  include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp
+  include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp
+)
+
+set(COMMON_SRC
+  src/common/color_alpha_property.cpp
+  src/object_detection/object_polygon_detail.cpp
+)
+
+foreach(header "${OD_PLUGIN_LIB_HEADERS_TO_WRAP}")
+  qt5_wrap_cpp(OD_PLUGIN_LIB_HEADERS_MOC "${header}")
+endforeach()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  ${COMMON_HEADERS}
+  ${COMMON_SRC}
+  ${OD_PLUGIN_LIB_HEADERS}
+  ${OD_PLUGIN_LIB_HEADERS_MOC}
+  ${OD_PLUGIN_LIB_SRC}
+)
+target_link_libraries(${PROJECT_NAME}
+  rviz_common::rviz_common
+  Qt5::Widgets
+)
+target_include_directories(${PROJECT_NAME} PRIVATE include)
+
+# Settings to improve the build as suggested on https://github.com/ros2/rviz/blob/ros2/docs/plugin_development.md
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "OBJECT_DETECTION_PLUGINS_BUILDING_LIBRARY")
+
+# Export the plugin to be imported by rviz2
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  icons
+)

autoware_perception_rviz_plugin/README.md

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+# autoware_perception_rviz_plugin
+
+## Purpose
+
+It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.
+
+See Autoware.Auto design documentation for the original design philosophy. [[1]](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/src/tools/visualization/autoware_rviz_plugins)
+
+<!-- Write the purpose of this package and briefly describe the features.
+
+Example:
+  {package_name} is a package for planning trajectories that can avoid obstacles.
+  This feature consists of two steps: obstacle filtering and optimizing trajectory.
+-->
+
+## Input Types / Visualization Results
+
+### DetectedObjects
+
+#### Input Types
+
+| Name | Type                                             | Description            |
+| ---- | ------------------------------------------------ | ---------------------- |
+|      | `autoware_perception_msgs::msg::DetectedObjects` | detection result array |
+
+#### Visualization Result
+
+![detected-object-visualization-description](./images/detected-object-visualization-description.jpg)
+
+### TrackedObjects
+
+#### Input Types
+
+| Name | Type                                            | Description           |
+| ---- | ----------------------------------------------- | --------------------- |
+|      | `autoware_perception_msgs::msg::TrackedObjects` | tracking result array |
+
+#### Visualization Result
+
+Overwrite tracking results with detection results.
+
+![tracked-object-visualization-description](./images/tracked-object-visualization-description.jpg)
+
+### PredictedObjects
+
+#### Input Types
+
+| Name | Type                                              | Description             |
+| ---- | ------------------------------------------------- | ----------------------- |
+|      | `autoware_perception_msgs::msg::PredictedObjects` | prediction result array |
+
+#### Visualization Result
+
+Overwrite prediction results with tracking results.
+
+![predicted-object-visualization-description](./images/predicted-object-visualization-description.jpg)
+
+## References/External links
+
+[1] <https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins>
+
+## Future extensions / Unimplemented parts

autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png

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+// Copyright 2021 Apex.AI, 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 AUTOWARE_PERCEPTION_RVIZ_PLUGIN__COMMON__COLOR_ALPHA_PROPERTY_HPP_
+#define AUTOWARE_PERCEPTION_RVIZ_PLUGIN__COMMON__COLOR_ALPHA_PROPERTY_HPP_
+
+#include "autoware_perception_rviz_plugin/visibility_control.hpp"
+
+#include <rviz_common/display.hpp>
+#include <rviz_common/properties/color_property.hpp>
+#include <rviz_common/properties/float_property.hpp>
+
+#include <std_msgs/msg/color_rgba.hpp>
+
+#include <memory>
+
+namespace autoware
+{
+namespace rviz_plugins
+{
+namespace common
+{
+/// \brief Class to define Color and Alpha values as plugin properties
+class AUTOWARE_PERCEPTION_RVIZ_PLUGIN_PUBLIC ColorAlphaProperty
+{
+public:
+  /// \brief Constructor
+  /// \param color_default Default value for color property
+  /// \param alpha_default Default value for alpha property
+  /// \param parent_property Parent property for the color and alpha properties. Memory managed
+  ///        by the caller
+  ColorAlphaProperty(
+    const QColor & color_default, const float alpha_default,
+    rviz_common::properties::Property * parent_property);
+
+  /// \brief Convert color and alpha to ColorRGBA type
+  /// \return color and alpha values as ColorRGBA type
+  operator std_msgs::msg::ColorRGBA() const;
+
+private:
+  rviz_common::properties::ColorProperty m_color_property;
+  rviz_common::properties::FloatProperty m_alpha_property;
+};
+
+}  // namespace common
+}  // namespace rviz_plugins
+}  // namespace autoware
+
+#endif  // AUTOWARE_PERCEPTION_RVIZ_PLUGIN__COMMON__COLOR_ALPHA_PROPERTY_HPP_

autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png

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+// Copyright 2021 Apex.AI, 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 AUTOWARE_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
+#define AUTOWARE_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
+
+#include "autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp"
+
+#include <autoware_perception_msgs/msg/detected_objects.hpp>
+
+namespace autoware
+{
+namespace rviz_plugins
+{
+namespace object_detection
+{
+/// \brief Class defining rviz plugin to visualize DetectedObjects
+class AUTOWARE_PERCEPTION_RVIZ_PLUGIN_PUBLIC DetectedObjectsDisplay
+: public ObjectPolygonDisplayBase<autoware_perception_msgs::msg::DetectedObjects>
+{
+  Q_OBJECT
+
+public:
+  using DetectedObjects = autoware_perception_msgs::msg::DetectedObjects;
+
+  DetectedObjectsDisplay();
+
+private:
+  void processMessage(DetectedObjects::ConstSharedPtr msg) override;
+};
+
+}  // namespace object_detection
+}  // namespace rviz_plugins
+}  // namespace autoware
+
+#endif  // AUTOWARE_PERCEPTION_RVIZ_PLUGIN__OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_