[amadeuszsz]

Description

Adds shared detection post-processing utilities to perception_utils so that perception detectors can reuse a single implementation instead of maintaining duplicated per-package copies.

• DetectionClassRemapper (detection_class_remapper.{hpp,cpp}) - remaps detection labels by BEV area thresholds, operating on autoware_perception_msgs::msg::DetectedObjects.
• IouBevNms (iou_bev_nms.{hpp,cpp}) - BEV IoU non-maximum suppression with optional score sorting and pedestrian-vs-other-class separation.
• GTest coverage for both in test/test_detection_utils.cpp (5 cases).

Related links

Parent Issue:

• Link

How was this PR tested?

colcon test --packages-select perception_utils - test_detection_utils runs 5 cases, all pass.

Notes for reviewers

Porting existing detectors to these shared utilities will be done in separate PRs. Packages to be affected: autoware_bevfusion, autoware_camera_streampetr, autoware_image_projection_based_fusion (pointpainting fusion), autoware_lidar_centerpoint, autoware_lidar_transfusion, and autoware_ptv3.

Circle NMS is written in CUDA and shall be addressed in a separate new package autoware_cuda_perception_utils.

Interface changes

None.

Effects on system behavior

None.

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[mojomex]

Basically LGTM, with only some minor change requests (mainly: split tests).

I compared the four files with their BEVFusion equivalents, algorithms check out 👍

[codecov]

Codecov Report

❌ Patch coverage is 61.11111% with 21 lines in your changes missing coverage. Please review.
✅ Project coverage is 5.09%. Comparing base (13866c4) to head (c9f2995).
⚠️ Report is 8 commits behind head on main.

Files with missing lines	Patch %	Lines
perception/perception_utils/src/iou_bev_nms.cpp	59.25%	0 Missing and 11 partials ⚠️
.../perception_utils/src/detection_class_remapper.cpp	65.38%	2 Missing and 7 partials ⚠️
...lude/perception_utils/detection_class_remapper.hpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main   #12786       +/-   ##
===========================================
- Coverage   19.55%    5.09%   -14.46%     
===========================================
  Files        1903       57     -1846     
  Lines      131616     3691   -127925     
  Branches    46122     1659    -44463     
===========================================
- Hits        25731      188    -25543     
+ Misses      84911     3415    -81496     
+ Partials    20974       88    -20886     

Flag	Coverage Δ
full-suite	5.09% <61.11%> (-14.46%)	⬇️

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[mojomex]

LGTM! There's a duplicated test helper function, but it's small enough so it's not a blocker.

[mojomex]

@amadeuszsz test_utils.hpp shares its name with the pre-existing test_utils.cpp, causing pre-commit to complain:

cpplint..................................................................Failed
- hook id: cpplint
- exit code: 1

perception/perception_utils/test/test_utils.cpp:15:  perception/perception_utils/test/test_utils.cpp should include its header file perception/perception_utils/test/test_utils.hpp  [build/include] [5]
Done processing perception/perception_utils/test/test_utils.cpp

Renaming one of the two to something else seems like the easiest fix.