refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages #6591

badai-nguyen · 2024-03-11T14:14:59Z

Description

For the issue Separate the param.yaml file for ML model parameters and ML model handle node parameters #6590
This PR should be merged after refactor: update ML model param files download autoware#4533 and refactor(centerpoint, pointpainting): rearrange ML model and package params autoware_launch#915 merged.

Releated Link

TIER IV INTERNAL LINK

Tests performed

Make sure ML model yaml files are downloaded to autoware_data directory by updating autoware and running ./setup-dev-env.sh from autoware/ directory.
Confirmed by logging_simulator that centerpoint or pointpainting correctly reflect the parameters defined in autoware_launch and in data_path

Testing using centerpoint:
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/sample_autoware/sample-map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit control:=false planning:=false perception:=true localization:=false perception_mode:=camera_lidar_fusion centerpoint_model_name:=centerpoint

Testing using centerpoint_tiny
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/sample_autoware/sample-map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit control:=false planning:=false perception:=true localization:=false perception_mode:=camera_lidar_fusion centerpoint_model_name:=centerpoint_tiny
Tesing using pointpainting
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/sample_autoware/sample-map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit control:=false planning:=false perception:=true localization:=false perception_mode:=camera_lidar_fusion lidar_detection_model:=pointpainting

Effects on system behavior

Not applicable.

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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

kminoda

Thank you for the PR!!

perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml

perception/lidar_centerpoint/config/centerpoint.param.yaml

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

codecov · 2024-03-21T04:43:14Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 14.78%. Comparing base (35642a6) to head (8973229).
Report is 79 commits behind head on main.

❗ Current head 8973229 differs from pull request most recent head 70f4388. Consider uploading reports for the commit 70f4388 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6591      +/-   ##
==========================================
- Coverage   14.93%   14.78%   -0.16%     
==========================================
  Files        1944     1925      -19     
  Lines      134061   132724    -1337     
  Branches    39891    39521     -370     
==========================================
- Hits        20027    19623     -404     
+ Misses      91735    91127     -608     
+ Partials    22299    21974     -325

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <ø> (?)`
total	`14.78% <ø> (-0.16%)`	⬇️	Carriedforward from a8364b4

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

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml

Shin-kyoto · 2024-04-16T02:59:28Z

@badai-nguyen
Can you resolve conflicts?

…am_rework

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen · 2024-04-18T12:24:27Z

@Shin-kyoto @knzo25
cc @miursh @kminoda @tzhong518

I have updated and rearrange some parameters. I also updated the logging_simulator testing results in Tests performed.
Could you review this PR again.

perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

miursh

LGTM

knzo25

LGTM

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen · 2024-04-26T12:04:43Z

@Shin-kyoto
I fixed your change request so could you review it again?

BTW, I have merged autowarefoundation/autoware#4533 tested this change on Evaluator.

Lidar_based_detection: https://evaluation.tier4.jp/evaluation/reports/e9737a3c-8796-5e53-9acb-a0e51557ff5c?project_id=prd_jt
Camera_lidar_fusion based detection: https://evaluation.tier4.jp/evaluation/reports/00948d19-f04d-5daa-a6e1-e3d6071e6b1f?project_id=prd_jt

Shin-kyoto

LGTM

xmfcx · 2024-04-27T16:13:41Z

perception/lidar_centerpoint/schema/centerpoint.schemal.json

@@ -0,0 +1,98 @@
+{


@badai-nguyen This file has a wrong extension. (.schemal.json)

Might be intentional too, I don't know.

Maybe related to autowarefoundation/autoware-github-actions#293

@xmfcx Thank you for your comment. It was my mistake. I will fix it.

…els and packages (autowarefoundation#6591) * refactor: lidar_centerpoint Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor: pointpainting Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: fix launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: fix launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: rearrange params Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: json-schema-check error Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: default param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor: rename param file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: align centerpoint param namespace with pointpainting Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix(centerpoint): add schema json Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix(pointpainting): fix schema json typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * docs: update pointpainting fusion doc Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update lidar centerpoint doc Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: change omp param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix:change twist and variance to model params Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: keep build_only in launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: schema check Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: temporary remove schema required Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

badai-nguyen added 4 commits March 11, 2024 16:33

refactor: lidar_centerpoint

dd86a4a

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

refactor: pointpainting

d7b661a

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

chore: fix launch

cfe563e

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

chore: fix launch

772ba9a

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

github-actions bot added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Mar 11, 2024

This was referenced Mar 11, 2024

refactor(centerpoint, pointpainting): rearrange ML model and package params autowarefoundation/autoware_launch#915

Merged

refactor: update ML model param files download autowarefoundation/autoware#4533

Merged

badai-nguyen assigned Shin-kyoto Mar 12, 2024

kminoda reviewed Mar 13, 2024

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perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml Outdated Show resolved Hide resolved

perception/lidar_centerpoint/config/centerpoint.param.yaml Outdated Show resolved Hide resolved

chore: rearrange params

0109746

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen changed the title ~~refactor:(centerpoint, pointpainting): ML model params rework~~ refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages Mar 13, 2024

badai-nguyen and others added 2 commits March 14, 2024 01:42

Merge branch 'main' into refactor/ml_model_param_rework

a0347b9

fix: json-schema-check error

675a28e

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen marked this pull request as ready for review March 14, 2024 00:15

badai-nguyen requested review from knzo25, ktro2828, miursh, tzhong518, YoshiRi and yukkysaito as code owners March 14, 2024 00:15

badai-nguyen marked this pull request as draft March 14, 2024 05:30

badai-nguyen added 2 commits March 14, 2024 18:29

fix: default param

0ef230e

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

refactor: rename param file

b81ec45

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Mar 17, 2024

badai-nguyen marked this pull request as ready for review March 18, 2024 00:09

Merge branch 'main' into refactor/ml_model_param_rework

8973229

kminoda added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 21, 2024

knzo25 reviewed Mar 28, 2024

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...perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml Outdated Show resolved Hide resolved

badai-nguyen and others added 8 commits April 10, 2024 22:35

chore: typo

12890c5

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

fix: align centerpoint param namespace with pointpainting

f30631b

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

fix(centerpoint): add schema json

408f611

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

fix(pointpainting): fix schema json typo

daa82b5

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

style(pre-commit): autofix

1724c8b

Merge branch 'main' into refactor/ml_model_param_rework

cab2b23

docs: update pointpainting fusion doc

e652123

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

docs: update lidar centerpoint doc

4823bdb

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Shin-kyoto requested changes Apr 12, 2024

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perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml Outdated Show resolved Hide resolved

badai-nguyen added 3 commits April 18, 2024 16:37

Merge remote-tracking branch 'origin/main' into refactor/ml_model_par…

c959c30

…am_rework

fix: change omp param

995726b

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

fix:change twist and variance to model params

dc19732

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Merge branch 'main' into refactor/ml_model_param_rework

ca53ae7

miursh reviewed Apr 24, 2024

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perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml Outdated Show resolved Hide resolved

fix: keep build_only in launch

ad45a92

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen force-pushed the refactor/ml_model_param_rework branch from f12cfd0 to ad45a92 Compare April 24, 2024 07:49

miursh approved these changes Apr 26, 2024

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Merge branch 'main' into refactor/ml_model_param_rework

22769bd

knzo25 approved these changes Apr 26, 2024

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badai-nguyen added 2 commits April 26, 2024 20:09

fix: schema check

ef78f81

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

chore: temporary remove schema required

70f4388

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen force-pushed the refactor/ml_model_param_rework branch from 3544601 to 70f4388 Compare April 26, 2024 11:54

badai-nguyen enabled auto-merge (squash) April 26, 2024 12:06

Shin-kyoto approved these changes Apr 26, 2024

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badai-nguyen merged commit 46905ee into autowarefoundation:main Apr 26, 2024
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refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages #6591

refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages #6591

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refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages #6591

refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages #6591

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badai-nguyen commented Mar 11, 2024 • edited Loading

Description

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Tests performed

Effects on system behavior

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