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badai-nguyenbadai-nguyen
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refactor: rename param file
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
1 parent 0ef230e commit b81ec45

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+182
-183
lines changed

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

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@@ -82,8 +82,8 @@
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<arg name="output/objects" value="objects"/>
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<arg name="model_name" value="$(var lidar_detection_model)"/>
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<arg name="model_path" value="$(var pointpainting_model_path)"/>
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<arg name="model_param_path" value="$(var model_path)/$(var lidar_detection_model).param.yaml"/>
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<arg name="ml_package_param_path" value="$(var ml_package_param_path)/pointpainting_ml_package.param.yaml"/>
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<arg name="model_param_path" value="$(var lidar_model_param_path)/pointpainting.param.yaml"/>
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<arg name="ml_package_param_path" value="$(var model_path)/pointpainting_ml_package.param.yaml"/>
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<arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
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<arg name="use_pointcloud_container" value="true"/>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

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@@ -16,9 +16,9 @@
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<arg name="output/objects" value="objects"/>
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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="$(var model_path)/$(var centerpoint_model_name).param.yaml"/>
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<arg name="ml_package_param_path" value="$(var ml_package_param_path)/lidar_centerpoint_ml_package.param.yaml"/>
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<arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
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<arg name="model_param_path" value="$(var lidar_model_param_path)/centerpoint.param.yaml"/>
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<arg name="ml_package_param_path" value="$(var model_path)/$(var centerpoint_model_name)_ml_package.param.yaml"/>
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<arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
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<arg name="use_pointcloud_container" value="true"/>
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<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>

‎launch/tier4_perception_launch/launch/perception.launch.xml

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@@ -13,7 +13,7 @@
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<arg name="object_recognition_detection_roi_cluster_fusion_param_path"/>
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<arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
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<arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
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<arg name="object_recognition_detection_ml_package_param_path"/>
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<arg name="object_recognition_detection_lidar_model_param_path"/>
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<arg name="object_recognition_detection_radar_lanelet_filtering_range_param_path"/>
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<arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
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<arg name="object_recognition_detection_radar_object_clustering_param_path"/>
@@ -183,7 +183,7 @@
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<arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
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<arg name="roi_pointcloud_fusion_param_path" value="$(var object_recognition_detection_roi_pointcloud_fusion_param_path)"/>
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<arg name="roi_detected_object_fusion_param_path" value="$(var object_recognition_detection_roi_detected_object_fusion_param_path)"/>
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<arg name="ml_package_param_path" value="$(var object_recognition_detection_ml_package_param_path)"/>
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<arg name="lidar_model_param_path" value="$(var object_recognition_detection_lidar_model_param_path)"/>
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<arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
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<arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
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<arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>

‎perception/image_projection_based_fusion/config/pointpainting.param.yaml

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@@ -1,17 +1,20 @@
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/**:
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ros__parameters:
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model_params:
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class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
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paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
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point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
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max_voxel_size: 40000
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point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
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voxel_size: [0.32, 0.32, 8.0]
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downsample_factor: 1
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encoder_in_feature_size: 12
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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"
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build_only: false
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trt_precision: fp16
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post_process_params:
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# post-process params
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circle_nms_dist_threshold: 0.3
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iou_nms_target_class_names: ["CAR"]
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iou_nms_search_distance_2d: 10.0
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iou_nms_threshold: 0.1
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score_threshold: 0.35
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yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
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has_twist: false
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densification_params:
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world_frame_id: "map"
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num_past_frames: 1
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omp_params:
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# omp params
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num_threads: 1

‎perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml

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@@ -1,17 +1,14 @@
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/**:
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ros__parameters:
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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"
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build_only: false
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trt_precision: fp16
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post_process_params:
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# post-process params
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circle_nms_dist_threshold: 0.3
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iou_nms_target_class_names: ["CAR"]
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iou_nms_search_distance_2d: 10.0
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iou_nms_threshold: 0.1
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score_threshold: 0.35
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yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
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has_twist: false
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model_params:
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class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
5+
paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
6+
point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
7+
max_voxel_size: 40000
8+
point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
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voxel_size: [0.32, 0.32, 8.0]
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downsample_factor: 1
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encoder_in_feature_size: 12
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omp_params:
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# omp params
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num_threads: 1

‎perception/image_projection_based_fusion/docs/pointpainting-fusion.md

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@@ -36,8 +36,8 @@ The lidar points are projected onto the output of an image-only 2d object detect
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| Name | Type | Default Value | Description |
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| ------------------------------- | ------ | ------------- | ----------------------------------------------------------- |
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| `score_threshold` | float | `0.4` | detected objects with score less than threshold are ignored |
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| `densification_world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud |
40-
| `densification_num_past_frames` | int | `0` | the number of past frames to fuse with the current frame |
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| `densification.world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud |
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| `densification.num_past_frames` | int | `1` | the number of past frames to fuse with the current frame |
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| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` |
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| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file |
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| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file |

‎perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml

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@@ -21,8 +21,8 @@
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<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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<arg name="model_name" default="pointpainting" description="options: `pointpainting`"/>
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<arg name="model_path" default="$(var data_path)/image_projection_based_fusion"/>
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<arg name="model_param_path" default="$(find-pkg-share model_path)/$(var model_name).param.yaml"/>
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<arg name="ml_package_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting_ml_package.param.yaml"/>
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<arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting.param.yaml"/>
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<arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
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<arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
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<arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
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‎perception/image_projection_based_fusion/schema/pointpainting.schema.json

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@@ -6,85 +6,69 @@
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"pointpainting": {
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"type": "object",
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"properties": {
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"model_params": {
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"build_only": {
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"type": "boolean",
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"description": "shutdown the node after TensorRT engine file is built.",
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"default": false
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},
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"trt_precision": {
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"type": "string",
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"description": "TensorRT inference precision.",
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"default": "fp16",
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"enum": ["fp32", "fp16"]
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},
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"post_process_params": {
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"type": "object",
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"description": "Parameters for model configuration.",
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"properties": {
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"class_names": {
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"type": "array",
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"description": "An array of class names will be predicted.",
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"default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
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"uniqueItems": true
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"score_threshold": {
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"type": "number",
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"description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
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"default": 0.4,
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"minimum": 0.0,
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"maximum": 1.0
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},
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"paint_class_names": {
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"yaw_norm_thresholds": {
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"type": "array",
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"description": "An array of class names will be painted by PointPainting",
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"default": ["CAR", "BICYCLE", "PEDESTRIAN"],
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"uniqueItems": true
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"description": "An array of distance threshold values of norm of yaw [rad].",
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"default": [0.3, 0.3, 0.3, 0.3, 0.0],
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"minimum": 0.0,
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"maximum": 1.0
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},
25-
"point_feature_size": {
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"type": "integer",
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"description": "A number of channels of point feature layer.",
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"default": 7
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"circle_nms_dist_threshold": {
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"type": "number",
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"description": "",
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"default": 0.3,
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"minimum": 0.0,
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"maximum": 1.0
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},
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"max_voxel_size": {
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"type": "integer",
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"description": "A maximum size of voxel grid.",
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"default": 40000
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},
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"point_cloud_range": {
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"iou_nms_target_class_names": {
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"type": "array",
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"description": "An array of distance ranges of each class, this must have same length with `class_names`.",
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"default": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
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"description": "An array of class names to be target in NMS.",
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"default": ["CAR"],
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"uniqueItems": true
3949
},
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"voxel_size": {
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"type": "array",
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"description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
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"default": [0.32, 0.32, 8.0]
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"iou_search_distance_2d": {
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"type": "number",
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"description": "A maximum distance value to search the nearest objects.",
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"default": 10.0,
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"minimum": 0.0
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},
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"down_sample_factor": {
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"type": "integer",
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"description": "A scale factor of downsampling points",
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"default": 1,
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"minimum": 1
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"iou_nms_threshold": {
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"type": "number",
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"description": "A threshold value of NMS using IoU score.",
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"default": 0.1,
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"minimum": 0.0,
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"maximum": 1.0
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},
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"encoder_in_feature_size": {
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"type": "integer",
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"description": "A size of encoder input feature channels.",
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"default": 12
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}
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}
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},
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"densification_params": {
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"type": "object",
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"description": "Parameters for pointcloud densification.",
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"properties": {
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"world_frame_id": {
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"type": "string",
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"description": "A name of frame id where world coordinates system is defined with respect to.",
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"default": "map"
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},
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"num_past_frames": {
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"type": "integer",
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"description": "A number of past frames to be considered as same input frame.",
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"default": 0,
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"minimum": 0
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}
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}
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},
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"omp_params": {
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"type": "object",
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"properties": {
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"num_threads": {
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"type": "integer",
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"description": "The number of threads that is set to the environment variable OMP_NUM_THREADS.",
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"default": 1,
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"minimum": 1
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"has_twist": {
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"type": "boolean",
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"description": "Indicates whether the model outputs twist value.",
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"default": false
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}
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}
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}
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},
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"required": ["model_params", "densification_params", "omp_params"]
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"required": ["post_process_params", "densification_params"]
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}
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},
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"properties": {

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