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refractored the parameters, build the schema files, updated readme
Signed-off-by: Boyang <tby@udel.edu>
1 parent 34eeca4 commit eb7c134

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‎perception/lidar_centerpoint/config/centerpoint_base.param.yaml

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/**:
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ros__parameters:
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# weight files
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encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_centerpoint.onnx"
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encoder_engine_path: "$(var model_path)/pts_voxel_encoder_centerpoint.engine"
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head_onnx_path: "$(var model_path)/pts_backbone_neck_head_centerpoint.onnx"
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head_engine_path: "$(var model_path)/pts_backbone_neck_head_centerpoint.engine"
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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: 0.5
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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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densification_params:
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world_frame_id: map
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num_past_frames: 1

‎perception/lidar_centerpoint/config/centerpoint_tiny_base.param.yaml

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/**:
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ros__parameters:
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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"
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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: 0.5
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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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densification_params:
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world_frame_id: map
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num_past_frames: 1

‎perception/lidar_centerpoint/schema/centerpoint_base.schemal.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Lidar Centerpoint Node",
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"type": "object",
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"definitions": {
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"centerpoint_base": {
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"type": "object",
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"properties": {
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"encoder_onnx_path": {
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"type": "string",
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"description": "Path to VoxelFeatureEncoder ONNX file.",
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"default": ""
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},
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"encoder_engine_path": {
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"type": "string",
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"description": "Path to VoxelFeatureEncoder TensorRT Engine file.",
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"default": ""
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},
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"head_onnx_path": {
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"type": "string",
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"description": "Path to DetectionHead ONNX file.",
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"default": ""
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},
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"head_engine_path": {
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"type": "string",
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"description": "Path to DetectionHead TensorRT Engine file.",
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"default": ""
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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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"properties": {
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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": 0.35,
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"minimum": 0.0,
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"maximum": 1.0
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},
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"yaw_norm_thresholds": {
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"type": "array",
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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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},
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"circle_nms_dist_threshold": {
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"type": "number",
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"description": "",
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"default": 0.5,
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"minimum": 0.0,
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"maximum": 1.0
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},
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"iou_nms_target_class_names": {
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"type": "array",
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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
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},
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"iou_nms_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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"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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}
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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": 1,
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"minimum": 0
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}
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}
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}
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},
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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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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/centerpoint"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Centerpoint Sigma ML model",
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"type": "object",
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"definitions": {
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"centerpoint_sigma_ml_package": {
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"type": "object",
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"properties": {
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"model_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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"items": {
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"type": "string"
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},
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"uniqueItems": true
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},
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"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": 4
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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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"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": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0],
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"items": {
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"type": "number"
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}
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},
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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, 10.0],
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"items": {
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"type": "number"
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}
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},
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"downsample_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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},
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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": 9
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},
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"has_variance": {
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"type": "boolean",
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"description": "Flag indicating if the model includes variance estimation.",
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"default": false
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},
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"has_twist": {
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"type": "boolean",
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"description": "Flag indicating if the model includes twist estimation.",
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"default": false
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}
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},
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"required": [
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"class_names",
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"point_feature_size",
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"max_voxel_size",
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"point_cloud_range",
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"voxel_size",
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"downsample_factor",
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"encoder_in_feature_size",
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"has_variance",
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"has_twist"
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]
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}
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},
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"required": ["model_params"]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/centerpoint_sigma_ml_package"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎perception/lidar_centerpoint/schema/centerpoint_tiny_base.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Lidar Centerpoint Tiny Node",
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"type": "object",
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"definitions": {
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"centerpoint_tiny": {
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"type": "object",
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"properties": {
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"encoder_onnx_path": {
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"type": "string",
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"description": "Path to VoxelFeatureEncoder ONNX file.",
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"default": ""
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},
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"encoder_engine_path": {
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"type": "string",
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"description": "Path to VoxelFeatureEncoder TensorRT Engine file.",
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"default": ""
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},
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"head_onnx_path": {
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"type": "string",
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"description": "Path to DetectionHead ONNX file.",
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"default": ""
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},
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"head_engine_path": {
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"type": "string",
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"description": "Path to DetectionHead TensorRT Engine file.",
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"default": ""
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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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"properties": {
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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": 0.35,
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"minimum": 0.0,
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"maximum": 1.0
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},
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"yaw_norm_thresholds": {
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"type": "array",
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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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"items": {
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"type": "number",
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"minimum": 0.0,
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"maximum": 1.0
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}
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},
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"circle_nms_dist_threshold": {
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"type": "number",
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"description": "The distance threshold for circle NMS.",
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"default": 0.5,
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"minimum": 0.0,
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"maximum": 1.0
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},
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"iou_nms_target_class_names": {
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"type": "array",
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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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"items": {
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"type": "string"
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},
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"uniqueItems": true
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},
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"iou_nms_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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"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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},
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"required": [
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"score_threshold",
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"yaw_norm_thresholds",
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"circle_nms_dist_threshold",
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"iou_nms_target_class_names",
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"iou_nms_search_distance_2d",
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"iou_nms_threshold"
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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": 1,
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"minimum": 0
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}
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},
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"required": ["world_frame_id", "num_past_frames"]
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}
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},
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"required": [
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"encoder_onnx_path",
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"encoder_engine_path",
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"head_onnx_path",
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"head_engine_path",
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"trt_precision",
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"post_process_params",
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"densification_params"
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]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/centerpoint_tiny"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

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