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chore(lidar_centerpoint): rework parameters (#6167)
* chore(lidar_centerpoint): use config Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert unnecessary fix Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: revert build_only option Signed-off-by: kminoda <koji.minoda@tier4.jp> * docs: update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix: add pr url Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

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<!-- Lidar parameters -->
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<arg name="input/pointcloud"/>
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<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
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<arg name="lidar_detection_score_threshold" default="0.35"/>
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<!-- Lidar detector centerpoint parameters -->
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<arg name="centerpoint_model_name" default="centerpoint_tiny"/>
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<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
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<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
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<arg name="output/objects" value="objects"/>
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<arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
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<arg name="model_name" value="$(var centerpoint_model_name)"/>
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<arg name="model_path" value="$(var centerpoint_model_path)"/>
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<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>

‎perception/lidar_centerpoint/README.md

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@@ -45,6 +45,15 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
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| `nms_iou_threshold` | double | - | IoU threshold for the IoU-based Non Maximum Suppression |
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| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built |
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### The `build_only` option
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The `lidar_centerpoint` node has `build_only` option to build the TensorRT engine file from the ONNX file.
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Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:
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```bash
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ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefix lidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true
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```
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## Assumptions / Known limits
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- The `object.existence_probability` is stored the value of classification confidence of a DNN, not probability.

‎perception/lidar_centerpoint/config/centerpoint.param.yaml

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iou_nms_search_distance_2d: 10.0
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iou_nms_threshold: 0.1
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yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
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score_threshold: 0.35
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has_twist: false
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trt_precision: fp16
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densification_num_past_frames: 1
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densification_world_frame_id: map
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# weight files
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encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
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encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
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head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
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head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"

‎perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml

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iou_nms_search_distance_2d: 10.0
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iou_nms_threshold: 0.1
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yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
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score_threshold: 0.35
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has_twist: false
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trt_precision: fp16
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densification_num_past_frames: 1
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densification_world_frame_id: map
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# weight files
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encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
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encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
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head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
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head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"

‎perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

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<arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
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<arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
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<arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
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<arg name="score_threshold" default="0.35"/>
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<arg name="has_twist" default="false"/>
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<arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
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<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
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<composable_node pkg="lidar_centerpoint" plugin="centerpoint::LidarCenterPointNode" name="lidar_centerpoint">
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<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
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<remap from="~/output/objects" to="$(var output/objects)"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
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<param name="densification_world_frame_id" value="map"/>
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<param name="densification_num_past_frames" value="1"/>
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<param name="trt_precision" value="fp16"/>
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<param name="has_twist" value="$(var has_twist)"/>
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<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
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<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
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<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
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<param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
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<param name="build_only" value="$(var build_only)"/>
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<param from="$(var model_param_path)"/>
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<param from="$(var model_param_path)" allow_substs="true"/>
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<param from="$(var class_remapper_param_path)"/>
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<!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
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<param name="build_only" value="$(var build_only)"/>
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</composable_node>
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</load_composable_node>
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</group>
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<group unless="$(var use_pointcloud_container)">
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<node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
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<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
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<remap from="~/output/objects" to="$(var output/objects)"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
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<param name="densification_world_frame_id" value="map"/>
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<param name="densification_num_past_frames" value="1"/>
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<param name="trt_precision" value="fp16"/>
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<param name="has_twist" value="$(var has_twist)"/>
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<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
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<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
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<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
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<param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
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<param name="build_only" value="$(var build_only)"/>
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<param from="$(var model_param_path)"/>
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<param from="$(var model_param_path)" allow_substs="true"/>
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<param from="$(var class_remapper_param_path)"/>
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<!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
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<param name="build_only" value="$(var build_only)"/>
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</node>
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</group>
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</launch>

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