feat: add shape estimation package (autowarefoundation#100)

* release v0.4.0 * fix uninitialized variables (autowarefoundation#816) * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 3a695e62c841e01681880263bb62a810f11ebf74. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Rename launch files to launch.xml (autowarefoundation#28) * port shape_estimation to ros2 (autowarefoundation#37) * port shape_estimation to ros2 Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * minor fix from review Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused files Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * minor fix on include Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix cmakelist Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused codes Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix cmake Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [shape_estimation] fix launch file (autowarefoundation#116) * [shape_estimation] fix launch file Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove unnecessary find_package from CMakeLists.txt Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143) * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs * adding linters to shape_estimation (autowarefoundation#174) * Ros2 v0.8.0 shape estimation (autowarefoundation#257) * fix typos in perception (autowarefoundation#862) * Feature/camera lidar perception (autowarefoundation#937) * add object splitter Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add object merger Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change pkg name Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * cosmetic change Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add comment Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * remove litter Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix : debug code Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * enable vehicle to unknown track Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix * add object position in clustering * 🚮 * change param * fix name * bug fix * add install Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix bug (autowarefoundation#1161) (autowarefoundation#374) Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Fix typo in perception module (autowarefoundation#440) * add use_sim-time option (autowarefoundation#454) * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Perception components (autowarefoundation#1368) * [bev_optical_flow]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [object_merger]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [object_range_splitter]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [shape_estimation]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [map_based_prediction]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [naive_path_prediction]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [roi_image_saver]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [lidar_apollo_instance_segmentation]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [object_flow_fusion]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [traffic_light_map_based_detector]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [dynamic_object_visualization]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add markdownlint and prettier (autowarefoundation#1661) * Add markdownlint and prettier Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * suppress warnings for shape estimation (autowarefoundation#1770) * add Werror * fix uninitialized * Fix -Wunused-parameter (autowarefoundation#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix spell * Fix lint issues Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore flake8 warnings Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> * Refactor shape estimation for detection by tracking (autowarefoundation#1861) * refactor * modification due to refactoring * cosmetic change and add virtual * change to lib * fix typo * bug fix * cosmetic change * bug fix * add constexpr * cosmetic change * cosmetic change * cosmetic change * cosmetic change * Invoke code formatter at pre-commit (autowarefoundation#1935) * Run ament_uncrustify at pre-commit * Reformat existing files * Fix copyright and cpplint errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * add sort-package-xml hook in pre-commit (autowarefoundation#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * add createQuaternionFromYaw (autowarefoundation#2120) * add createQuaternionFromYaw * add test * change return value type of createQuaternionFromRPY from tf2::quat to geomety_msgs::msg::quat * use geometry_msgs::msg::Quaternion in createQuaternionFromRPY in application * Detection by tracker (autowarefoundation#1910) * initial commit * backup * apply format * cosmetic change * implement divided under segmenterd clusters * cosmetic change * bug fix * bug fix * bug fix * modify launch * add debug and bug fix * bug fix * bug fix * add no found tracked object * modify parameters and cmake * bug fix * remove debug info * add readme * modify clustering launch * run pre-commit * cosmetic change * cosmetic change * cosmetic change * apply markdownlint * modify launch * modify for cpplint * modify qos * change int to size_T * bug fix * change perception qos * Update perception/object_recognition/detection/detection_by_tracker/package.xml Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * cosmetic change * cosmetic change * fix launch * Update perception/object_recognition/detection/detection_by_tracker/src/utils.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * modify header include order * change include order * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * change to std::optional * cosmetic change * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * bug fix * modify readme Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply Black Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Port shape estimation to .auto (autowarefoundation#551) * Port shape estimation to .auto Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Run pre commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Cosmetic change: type -> label Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add trailer label Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update document for shape estimation (autowarefoundation#604) * Update document for shape estimation Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update perception/object_recognition/detection/shape_estimation/README.md Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Run pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Address review Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * [shape_estimation]change type (autowarefoundation#663) * change output type of shape_estimation * remove unused function * add dynamic_object_converter * rename * fix typo * fix dummy_perception_publisher * update readme * fix copyright * rename package * add readme * fix launch name * remove unused variable * fix readme * fix convert function * change topic name of DynamicObjectsWithFeature Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
yukkysaito · Dec 3, 2021 · bd4111f · bd4111f
1 parent f391dd7
commit bd4111f
Show file tree

Hide file tree

Showing 40 changed files with 2,101 additions and 0 deletions.
diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/shape_estimation/CMakeLists.txt
@@ -0,0 +1,78 @@
+cmake_minimum_required(VERSION 3.5)
+project(shape_estimation)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+find_package(PCL REQUIRED COMPONENTS common)
+find_package(pcl_conversions REQUIRED)
+
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+
+set(SHAPE_ESTIMATION_DEPENDENCIES
+  PCL
+  OpenCV
+  Eigen3
+)
+
+ament_auto_add_library(shape_estimation_lib SHARED
+  lib/shape_estimator.cpp
+  lib/model/bounding_box.cpp
+  lib/model/convex_hull.cpp
+  lib/model/cylinder.cpp
+  lib/filter/car_filter.cpp
+  lib/filter/bus_filter.cpp
+  lib/filter/truck_filter.cpp
+  lib/filter/no_filter.cpp
+  lib/filter/utils.cpp
+  lib/corrector/car_corrector.cpp
+  lib/corrector/bus_corrector.cpp
+  lib/corrector/truck_corrector.cpp
+  lib/corrector/no_corrector.cpp
+  lib/corrector/utils.cpp
+)
+
+ament_target_dependencies(shape_estimation_lib ${SHAPE_ESTIMATION_DEPENDENCIES})
+
+ament_auto_add_library(shape_estimation_node SHARED
+  src/node.cpp
+)
+
+target_include_directories(shape_estimation_node
+    PUBLIC
+        $<INSTALL_INTERFACE:include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}/src
+)
+
+ament_target_dependencies(shape_estimation_node ${SHAPE_ESTIMATION_DEPENDENCIES})
+
+target_link_libraries(shape_estimation_node
+  shape_estimation_lib
+)
+
+rclcpp_components_register_node(shape_estimation_node
+  PLUGIN "ShapeEstimationNode"
+  EXECUTABLE shape_estimation
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)
diff --git a/perception/shape_estimation/README.md b/perception/shape_estimation/README.md
@@ -0,0 +1,62 @@
+# shape_estimation
+
+## Purpose
+
+This node calculates a refined object shape (bounding box, cylinder, convex hull) in which a pointcloud cluster fits according to a label.
+
+## Inner-workings / Algorithms
+
+### Fitting algorithms
+
+- bounding box
+
+  L-shape fitting. See reference below for details.
+
+- cylinder
+
+  `cv::minEnclosingCircle`
+
+- convex hull
+
+  `cv::convexHull`
+
+## Inputs / Outputs
+
+### Input
+
+| Name    | Type                                                        | Description                           |
+| ------- | ----------------------------------------------------------- | ------------------------------------- |
+| `input` | `autoware_perception_msgs::msg::DetectedObjectsWithFeature` | detected objects with labeled cluster |
+
+### Output
+
+| Name             | Type                                                  | Description                         |
+| ---------------- | ----------------------------------------------------- | ----------------------------------- |
+| `output/objects` | `autoware_auto_perception_msgs::msg::DetectedObjects` | detected objects with refined shape |
+
+## Parameters
+
+| Name                        | Type | Default Value | Description                                         |
+| --------------------------- | ---- | ------------- | --------------------------------------------------- |
+| `use_corrector`             | bool | true          | The flag to apply rule-based filter                 |
+| `use_filter`                | bool | true          | The flag to apply rule-based corrector              |
+| `use_vehicle_reference_yaw` | bool | true          | The flag to use vehicle reference yaw for corrector |
+
+## Assumptions / Known limits
+
+TBD
+
+## References/External links
+
+L-shape fitting implementation of the paper:
+
+```bibtex
+@conference{Zhang-2017-26536,
+author = {Xiao Zhang and Wenda Xu and Chiyu Dong and John M. Dolan},
+title = {Efficient L-Shape Fitting for Vehicle Detection Using Laser Scanners},
+booktitle = {2017 IEEE Intelligent Vehicles Symposium},
+year = {2017},
+month = {June},
+keywords = {autonomous driving, laser scanner, perception, segmentation},
+}
+```
diff --git a/perception/shape_estimation/include/shape_estimation/corrector/bus_corrector.hpp b/perception/shape_estimation/include/shape_estimation/corrector/bus_corrector.hpp
@@ -0,0 +1,45 @@
+// Copyright 2018 Autoware Foundation. All rights reserved.
+//
+// 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 SHAPE_ESTIMATION__CORRECTOR__BUS_CORRECTOR_HPP_
+#define SHAPE_ESTIMATION__CORRECTOR__BUS_CORRECTOR_HPP_
+
+#include "shape_estimation/corrector/corrector_interface.hpp"
+#include "utils.hpp"
+
+class BusCorrector : public ShapeEstimationCorrectorInterface
+{
+private:
+  utils::CorrectionParameters params_;
+  bool use_reference_yaw_;
+
+public:
+  explicit BusCorrector(bool use_reference_yaw = false) : use_reference_yaw_(use_reference_yaw)
+  {
+    params_.min_width = 2.0;
+    params_.max_width = 2.9;
+    params_.avg_width = (params_.min_width + params_.max_width) * 0.5;
+    params_.min_length = 5.0;
+    params_.max_length = 17.0;
+    params_.avg_length = 7.0;
+  }
+
+  ~BusCorrector() = default;
+
+  bool correct(
+    autoware_auto_perception_msgs::msg::Shape & shape_output,
+    geometry_msgs::msg::Pose & pose_output) override;
+};
+
+#endif  // SHAPE_ESTIMATION__CORRECTOR__BUS_CORRECTOR_HPP_
diff --git a/perception/shape_estimation/include/shape_estimation/corrector/car_corrector.hpp b/perception/shape_estimation/include/shape_estimation/corrector/car_corrector.hpp
@@ -0,0 +1,45 @@
+// Copyright 2018 Autoware Foundation. All rights reserved.
+//
+// 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 SHAPE_ESTIMATION__CORRECTOR__CAR_CORRECTOR_HPP_
+#define SHAPE_ESTIMATION__CORRECTOR__CAR_CORRECTOR_HPP_
+
+#include "shape_estimation/corrector/corrector_interface.hpp"
+#include "utils.hpp"
+
+class CarCorrector : public ShapeEstimationCorrectorInterface
+{
+private:
+  utils::CorrectionParameters params_;
+  bool use_reference_yaw_;
+
+public:
+  explicit CarCorrector(bool use_reference_yaw = false) : use_reference_yaw_(use_reference_yaw)
+  {
+    params_.min_width = 1.2;
+    params_.max_width = 2.2;
+    params_.avg_width = (params_.min_width + params_.max_width) * 0.5;
+    params_.min_length = 3.0;
+    params_.max_length = 5.0;
+    params_.avg_length = (params_.min_length + params_.max_length) * 0.5;
+  }
+
+  ~CarCorrector() = default;
+
+  bool correct(
+    autoware_auto_perception_msgs::msg::Shape & shape_output,
+    geometry_msgs::msg::Pose & pose_output) override;
+};
+
+#endif  // SHAPE_ESTIMATION__CORRECTOR__CAR_CORRECTOR_HPP_
diff --git a/perception/shape_estimation/include/shape_estimation/corrector/corrector.hpp b/perception/shape_estimation/include/shape_estimation/corrector/corrector.hpp
@@ -0,0 +1,24 @@
+// Copyright 2018 Autoware Foundation. All rights reserved.
+//
+// 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 SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_HPP_
+#define SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_HPP_
+
+#include "shape_estimation/corrector/bus_corrector.hpp"
+#include "shape_estimation/corrector/car_corrector.hpp"
+#include "shape_estimation/corrector/corrector_interface.hpp"
+#include "shape_estimation/corrector/no_corrector.hpp"
+#include "shape_estimation/corrector/truck_corrector.hpp"
+
+#endif  // SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_HPP_
diff --git a/perception/shape_estimation/include/shape_estimation/corrector/corrector_interface.hpp b/perception/shape_estimation/include/shape_estimation/corrector/corrector_interface.hpp
@@ -0,0 +1,35 @@
+// Copyright 2018 Autoware Foundation. All rights reserved.
+//
+// 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 SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_INTERFACE_HPP_
+#define SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_INTERFACE_HPP_
+
+#include <autoware_auto_perception_msgs/msg/shape.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+
+#include <string>
+
+class ShapeEstimationCorrectorInterface
+{
+public:
+  ShapeEstimationCorrectorInterface() {}
+
+  virtual ~ShapeEstimationCorrectorInterface() {}
+
+  virtual bool correct(
+    autoware_auto_perception_msgs::msg::Shape & shape_output,
+    geometry_msgs::msg::Pose & pose_output) = 0;
+};
+
+#endif  // SHAPE_ESTIMATION__CORRECTOR__CORRECTOR_INTERFACE_HPP_
diff --git a/perception/shape_estimation/include/shape_estimation/corrector/no_corrector.hpp b/perception/shape_estimation/include/shape_estimation/corrector/no_corrector.hpp
@@ -0,0 +1,33 @@
+// Copyright 2018 Autoware Foundation. All rights reserved.
+//
+// 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 SHAPE_ESTIMATION__CORRECTOR__NO_CORRECTOR_HPP_
+#define SHAPE_ESTIMATION__CORRECTOR__NO_CORRECTOR_HPP_
+
+#include "shape_estimation/corrector/corrector_interface.hpp"
+#include "utils.hpp"
+
+class NoCorrector : public ShapeEstimationCorrectorInterface
+{
+public:
+  NoCorrector() {}
+
+  ~NoCorrector() {}
+
+  bool correct(
+    autoware_auto_perception_msgs::msg::Shape & shape_output,
+    geometry_msgs::msg::Pose & pose_output) override;
+};
+
+#endif  // SHAPE_ESTIMATION__CORRECTOR__NO_CORRECTOR_HPP_
diff --git a/perception/shape_estimation/include/shape_estimation/corrector/truck_corrector.hpp b/perception/shape_estimation/include/shape_estimation/corrector/truck_corrector.hpp
@@ -0,0 +1,45 @@
+// Copyright 2018 Autoware Foundation. All rights reserved.
+//
+// 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 SHAPE_ESTIMATION__CORRECTOR__TRUCK_CORRECTOR_HPP_
+#define SHAPE_ESTIMATION__CORRECTOR__TRUCK_CORRECTOR_HPP_
+
+#include "shape_estimation/corrector/corrector_interface.hpp"
+#include "utils.hpp"
+
+class TruckCorrector : public ShapeEstimationCorrectorInterface
+{
+private:
+  utils::CorrectionParameters params_;
+  bool use_reference_yaw_;
+
+public:
+  explicit TruckCorrector(bool use_reference_yaw = false) : use_reference_yaw_(use_reference_yaw)
+  {
+    params_.min_width = 1.5;
+    params_.max_width = 2.9;
+    params_.avg_width = (params_.min_width + params_.max_width) * 0.5;
+    params_.min_length = 4.0;
+    params_.max_length = 7.9;
+    params_.avg_length = (params_.min_length + params_.max_length) * 0.5;
+  }
+
+  ~TruckCorrector() = default;
+
+  bool correct(
+    autoware_auto_perception_msgs::msg::Shape & shape_output,
+    geometry_msgs::msg::Pose & pose_output) override;
+};
+
+#endif  // SHAPE_ESTIMATION__CORRECTOR__TRUCK_CORRECTOR_HPP_