From dd86a4a1c1986d358915cb5b81f118d08c144abf Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 11 Mar 2024 16:33:21 +0900
Subject: [PATCH 01/20] refactor: lidar_centerpoint
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../lidar_centerpoint/config/centerpoint.param.yaml | 8 --------
.../config/centerpoint_tiny.param.yaml | 8 --------
.../config/lidar_centerpoint_ml_package.param.yaml | 11 +++++++++++
.../launch/lidar_centerpoint.launch.xml | 10 +++-------
perception/lidar_centerpoint/src/node.cpp | 10 +++++-----
5 files changed, 19 insertions(+), 28 deletions(-)
create mode 100644 perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml
diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index a9c3174846d0d..db0683e2a77d0 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -13,14 +13,6 @@
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- score_threshold: 0.35
- has_twist: false
trt_precision: fp16
densification_num_past_frames: 1
densification_world_frame_id: map
-
- # weight files
- encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
- encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
- head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
- head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
index 474d0e2b695ac..9288a5fc9d05d 100644
--- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
@@ -13,14 +13,6 @@
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- score_threshold: 0.35
- has_twist: false
trt_precision: fp16
densification_num_past_frames: 1
densification_world_frame_id: map
-
- # weight files
- encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
- encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
- head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
- head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
diff --git a/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml b/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml
new file mode 100644
index 0000000000000..06b15cf4c1bf0
--- /dev/null
+++ b/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml
@@ -0,0 +1,11 @@
+/**:
+ ros__parameters:
+ score_threshold: 0.35
+ has_twist: false
+ build_only: false
+
+ # weight files
+ encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+ encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+ head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index 5489af2c8fb60..e27f630f57e82 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -6,8 +6,8 @@
<arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
<arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
<arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
+ <arg name="ml_package_param_path" default="$(find-pkg-share lidar_centerpoint)/config/lidar_centerpoint_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
- <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>
@@ -18,10 +18,8 @@
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param from="$(var model_param_path)" allow_substs="true"/>
+ <param from="$(var ml_package_param_path)" allow_substs="true"/>
<param from="$(var class_remapper_param_path)"/>
-
- <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
- <param name="build_only" value="$(var build_only)"/>
</composable_node>
</load_composable_node>
</group>
@@ -30,10 +28,8 @@
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param from="$(var model_param_path)" allow_substs="true"/>
+ <param from="$(var ml_package_param_path)" allow_substs="true"/>
<param from="$(var class_remapper_param_path)"/>
-
- <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
- <param name="build_only" value="$(var build_only)"/>
</node>
</group>
</launch>
diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp
index d370a60a26aa5..c4b02d4c8d143 100644
--- a/perception/lidar_centerpoint/src/node.cpp
+++ b/perception/lidar_centerpoint/src/node.cpp
@@ -39,23 +39,23 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
: Node("lidar_center_point", node_options), tf_buffer_(this->get_clock())
{
const float score_threshold =
- static_cast<float>(this->declare_parameter<double>("score_threshold", 0.35));
+ static_cast<float>(this->declare_parameter<double>("score_threshold"));
const float circle_nms_dist_threshold =
static_cast<float>(this->declare_parameter<double>("circle_nms_dist_threshold"));
const auto yaw_norm_thresholds =
this->declare_parameter<std::vector<double>>("yaw_norm_thresholds");
const std::string densification_world_frame_id =
- this->declare_parameter("densification_world_frame_id", "map");
+ this->declare_parameter<std::string>("densification_world_frame_id");
const int densification_num_past_frames =
- this->declare_parameter("densification_num_past_frames", 1);
- const std::string trt_precision = this->declare_parameter("trt_precision", "fp16");
+ this->declare_parameter<int>("densification_num_past_frames");
+ const std::string trt_precision = this->declare_parameter<std::string>("trt_precision");
const std::string encoder_onnx_path = this->declare_parameter<std::string>("encoder_onnx_path");
const std::string encoder_engine_path =
this->declare_parameter<std::string>("encoder_engine_path");
const std::string head_onnx_path = this->declare_parameter<std::string>("head_onnx_path");
const std::string head_engine_path = this->declare_parameter<std::string>("head_engine_path");
class_names_ = this->declare_parameter<std::vector<std::string>>("class_names");
- has_twist_ = this->declare_parameter("has_twist", false);
+ has_twist_ = this->declare_parameter<bool>("has_twist");
const std::size_t point_feature_size =
static_cast<std::size_t>(this->declare_parameter<std::int64_t>("point_feature_size"));
const std::size_t max_voxel_size =
From d7b661a77d173351302b2a106c30aa376dba67d0 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 11 Mar 2024 16:34:04 +0900
Subject: [PATCH 02/20] refactor: pointpainting
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../config/pointpainting.param.yaml | 15 ---------------
.../config/pointpainting_ml_package.param.yaml | 17 +++++++++++++++++
.../launch/pointpainting_fusion.launch.xml | 15 ++++++---------
3 files changed, 23 insertions(+), 24 deletions(-)
create mode 100644 perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
index 3abaffb243d96..25de68e50c6f1 100755
--- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -1,11 +1,6 @@
/**:
ros__parameters:
trt_precision: fp16
- encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
- encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
- head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
- head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
-
model_params:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
@@ -20,13 +15,3 @@
densification_params:
world_frame_id: "map"
num_past_frames: 0
- post_process_params:
- # post-process params
- circle_nms_dist_threshold: 0.3
- iou_nms_target_class_names: ["CAR"]
- iou_nms_search_distance_2d: 10.0
- iou_nms_threshold: 0.1
- score_threshold: 0.35
- omp_params:
- # omp params
- num_threads: 1
diff --git a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
new file mode 100644
index 0000000000000..83d2a0fed26b2
--- /dev/null
+++ b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
@@ -0,0 +1,17 @@
+/**:
+ ros__parameters:
+ encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+ encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+ head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+ build_only: false
+ post_process_params:
+ # post-process params
+ circle_nms_dist_threshold: 0.3
+ iou_nms_target_class_names: ["CAR"]
+ iou_nms_search_distance_2d: 10.0
+ iou_nms_threshold: 0.1
+ score_threshold: 0.35
+ omp_params:
+ # omp params
+ num_threads: 1
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index 9236d7d789ed1..2bce8b3dc97aa 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -22,9 +22,12 @@
<arg name="model_name" default="pointpainting" description="options: `pointpainting`"/>
<arg name="model_path" default="$(var data_path)/image_projection_based_fusion"/>
<arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/$(var model_name).param.yaml"/>
+ <arg
+ name="ml_package_param_path"
+ default="/home/autoware/autoware/src/launcher/autoware_launch/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting_ml_package.param.yaml"
+ />
<arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
<arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
- <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>
@@ -48,13 +51,10 @@
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param from="$(var model_param_path)" allow_substs="true"/>
+ <param from="$(var ml_package_param_path)" allow_substs="true"/>
<param from="$(var sync_param_path)"/>
<param from="$(var class_remapper_param_path)"/>
<param name="rois_number" value="$(var input/rois_number)"/>
-
- <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6169 -->
- <param name="build_only" value="$(var build_only)"/>
-
<!-- rois, camera and info -->
<param name="input/rois0" value="$(var input/rois0)"/>
<param name="input/camera_info0" value="$(var input/camera_info0)"/>
@@ -89,13 +89,10 @@
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param from="$(var model_param_path)" allow_substs="true"/>
+ <param from="$(var ml_package_param_path)" allow_substs="true"/>
<param from="$(var sync_param_path)"/>
<param from="$(var class_remapper_param_path)"/>
<param name="rois_number" value="$(var input/rois_number)"/>
-
- <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6169 -->
- <param name="build_only" value="$(var build_only)"/>
-
<!-- rois, camera and info -->
<param name="input/rois0" value="$(var input/rois0)"/>
<param name="input/camera_info0" value="$(var input/camera_info0)"/>
From cfe563ebe16af794c6839d278e1128a18785b771 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 11 Mar 2024 17:47:13 +0900
Subject: [PATCH 03/20] chore: fix launch
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../detection/detector/camera_lidar_detector.launch.xml | 1 +
.../detection/detector/lidar_dnn_detector.launch.xml | 6 +++---
launch/tier4_perception_launch/launch/perception.launch.xml | 4 ++--
3 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index ddcbbbaeae107..a90d04c567f06 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -83,6 +83,7 @@
<arg name="model_name" value="$(var lidar_detection_model)"/>
<arg name="model_path" value="$(var pointpainting_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
+ <arg name="ml_package_param_path" value="$(var ml_package_param_path)/pointpainting_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
<arg name="use_pointcloud_container" value="true"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index f9b65fd5c30eb..e8d08d964a2fb 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -7,7 +7,6 @@
<!-- Lidar detector centerpoint parameters -->
<arg name="centerpoint_model_name" default="centerpoint_tiny"/>
<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
- <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
<!-- CenterPoint -->
<group if="$(eval "'$(var lidar_detection_model)'=='centerpoint'")">
@@ -18,8 +17,9 @@
<arg name="output/objects" value="objects"/>
<arg name="model_name" value="$(var centerpoint_model_name)"/>
<arg name="model_path" value="$(var centerpoint_model_path)"/>
- <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
- <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+ <arg name="model_param_path" value="$(var centerpoint_model_path)/$(var centerpoint_model_name).param.yaml"/>
+ <arg name="ml_package_param_path" value="$(var ml_package_param_path)/lidar_centerpoint_ml_package.param.yaml"/>
+ <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index c6213ee313c2b..2556c14cae244 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -13,7 +13,7 @@
<arg name="object_recognition_detection_roi_cluster_fusion_param_path"/>
<arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
<arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
- <arg name="object_recognition_detection_lidar_model_param_path"/>
+ <arg name="object_recognition_detection_ml_package_param_path"/>
<arg name="object_recognition_detection_radar_lanelet_filtering_range_param_path"/>
<arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
<arg name="object_recognition_detection_radar_object_clustering_param_path"/>
@@ -183,7 +183,7 @@
<arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
<arg name="roi_pointcloud_fusion_param_path" value="$(var object_recognition_detection_roi_pointcloud_fusion_param_path)"/>
<arg name="roi_detected_object_fusion_param_path" value="$(var object_recognition_detection_roi_detected_object_fusion_param_path)"/>
- <arg name="lidar_model_param_path" value="$(var object_recognition_detection_lidar_model_param_path)"/>
+ <arg name="ml_package_param_path" value="$(var object_recognition_detection_ml_package_param_path)"/>
<arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
<arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
<arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
From 772ba9abc74115c43ad4121f210a8576c36509d2 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 11 Mar 2024 19:21:14 +0900
Subject: [PATCH 04/20] chore: fix launch
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../detection/detector/camera_lidar_detector.launch.xml | 4 ++--
.../detection/detector/lidar_dnn_detector.launch.xml | 3 +--
.../launch/pointpainting_fusion.launch.xml | 9 +++------
.../launch/lidar_centerpoint.launch.xml | 4 ++--
4 files changed, 8 insertions(+), 12 deletions(-)
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index a90d04c567f06..55153820ed6bc 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -82,9 +82,9 @@
<arg name="output/objects" value="objects"/>
<arg name="model_name" value="$(var lidar_detection_model)"/>
<arg name="model_path" value="$(var pointpainting_model_path)"/>
- <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
+ <arg name="model_param_path" value="$(var model_path)/$(var lidar_detection_model).param.yaml"/>
<arg name="ml_package_param_path" value="$(var ml_package_param_path)/pointpainting_ml_package.param.yaml"/>
- <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+ <arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index e8d08d964a2fb..20f0ed32489f3 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -6,7 +6,6 @@
<!-- Lidar detector centerpoint parameters -->
<arg name="centerpoint_model_name" default="centerpoint_tiny"/>
- <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
<!-- CenterPoint -->
<group if="$(eval "'$(var lidar_detection_model)'=='centerpoint'")">
@@ -17,7 +16,7 @@
<arg name="output/objects" value="objects"/>
<arg name="model_name" value="$(var centerpoint_model_name)"/>
<arg name="model_path" value="$(var centerpoint_model_path)"/>
- <arg name="model_param_path" value="$(var centerpoint_model_path)/$(var centerpoint_model_name).param.yaml"/>
+ <arg name="model_param_path" value="$(var model_path)/$(var centerpoint_model_name).param.yaml"/>
<arg name="ml_package_param_path" value="$(var ml_package_param_path)/lidar_centerpoint_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index 2bce8b3dc97aa..2cd6130cf1be3 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -21,12 +21,9 @@
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="model_name" default="pointpainting" description="options: `pointpainting`"/>
<arg name="model_path" default="$(var data_path)/image_projection_based_fusion"/>
- <arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/$(var model_name).param.yaml"/>
- <arg
- name="ml_package_param_path"
- default="/home/autoware/autoware/src/launcher/autoware_launch/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting_ml_package.param.yaml"
- />
- <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
+ <arg name="model_param_path" default="$(find-pkg-share model_path)/$(var model_name).param.yaml"/>
+ <arg name="ml_package_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting_ml_package.param.yaml"/>
+ <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
<arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index e27f630f57e82..09d248974cd21 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -5,9 +5,9 @@
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
<arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
- <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
+ <arg name="model_param_path" default="$(var model_path)/$(var model_name).param.yaml"/>
<arg name="ml_package_param_path" default="$(find-pkg-share lidar_centerpoint)/config/lidar_centerpoint_ml_package.param.yaml"/>
- <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
+ <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>
From 0109746b212f7989e1685365f5e6d54ae89d455e Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 14 Mar 2024 00:57:52 +0900
Subject: [PATCH 05/20] chore: rearrange params
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../config/pointpainting.param.yaml | 6 +++---
.../config/pointpainting_ml_package.param.yaml | 6 +++---
.../src/pointpainting_fusion/node.cpp | 4 ++--
.../lidar_centerpoint/config/centerpoint.param.yaml | 7 -------
.../lidar_centerpoint/config/centerpoint_tiny.param.yaml | 7 -------
.../config/lidar_centerpoint_ml_package.param.yaml | 8 ++++++++
6 files changed, 16 insertions(+), 22 deletions(-)
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
index 25de68e50c6f1..dcf90eca8a045 100755
--- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -1,6 +1,5 @@
/**:
ros__parameters:
- trt_precision: fp16
model_params:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
@@ -10,8 +9,9 @@
voxel_size: [0.32, 0.32, 8.0]
downsample_factor: 1
encoder_in_feature_size: 12
- yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- has_twist: false
densification_params:
world_frame_id: "map"
num_past_frames: 0
+ omp_params:
+ # omp params
+ num_threads: 1
diff --git a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
index 83d2a0fed26b2..5183d4a44e1b9 100644
--- a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
@@ -5,6 +5,7 @@
head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
build_only: false
+ trt_precision: fp16
post_process_params:
# post-process params
circle_nms_dist_threshold: 0.3
@@ -12,6 +13,5 @@
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
score_threshold: 0.35
- omp_params:
- # omp params
- num_threads: 1
+ yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+ has_twist: false
diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
index 14783a46ba8b4..cf93feb207f9d 100644
--- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
+++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -102,7 +102,7 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
const float circle_nms_dist_threshold = static_cast<float>(
this->declare_parameter<double>("post_process_params.circle_nms_dist_threshold"));
const auto yaw_norm_thresholds =
- this->declare_parameter<std::vector<double>>("model_params.yaw_norm_thresholds");
+ this->declare_parameter<std::vector<double>>("post_process_params.yaw_norm_thresholds");
// densification param
const std::string densification_world_frame_id =
this->declare_parameter<std::string>("densification_params.world_frame_id");
@@ -140,7 +140,7 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
isClassTable_.erase(cls);
}
}
- has_twist_ = this->declare_parameter<bool>("model_params.has_twist");
+ has_twist_ = this->declare_parameter<bool>("post_process_params.has_twist");
const std::size_t point_feature_size = static_cast<std::size_t>(
this->declare_parameter<std::int64_t>("model_params.point_feature_size"));
const std::size_t max_voxel_size =
diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index db0683e2a77d0..398b28d08d025 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -7,12 +7,5 @@
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 1
encoder_in_feature_size: 9
- # post-process params
- circle_nms_dist_threshold: 0.5
- iou_nms_target_class_names: ["CAR"]
- iou_nms_search_distance_2d: 10.0
- iou_nms_threshold: 0.1
- yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- trt_precision: fp16
densification_num_past_frames: 1
densification_world_frame_id: map
diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
index 9288a5fc9d05d..b7055936b098f 100644
--- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
@@ -7,12 +7,5 @@
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 2
encoder_in_feature_size: 9
- # post-process params
- circle_nms_dist_threshold: 0.5
- iou_nms_target_class_names: ["CAR"]
- iou_nms_search_distance_2d: 10.0
- iou_nms_threshold: 0.1
- yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- trt_precision: fp16
densification_num_past_frames: 1
densification_world_frame_id: map
diff --git a/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml b/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml
index 06b15cf4c1bf0..60576d3139523 100644
--- a/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml
+++ b/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml
@@ -9,3 +9,11 @@
encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+
+ # post-process params
+ circle_nms_dist_threshold: 0.5
+ iou_nms_target_class_names: ["CAR"]
+ iou_nms_search_distance_2d: 10.0
+ iou_nms_threshold: 0.1
+ yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+ trt_precision: fp16
From 675a28e17e6358532ff4ea0e003b1b6d05486ba9 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 14 Mar 2024 08:56:46 +0900
Subject: [PATCH 06/20] fix: json-schema-check error
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../schema/pointpainting.schema.json | 52 +----------
.../pointpainting_ml_package.schema.json | 86 +++++++++++++++++++
2 files changed, 87 insertions(+), 51 deletions(-)
create mode 100644 perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
diff --git a/perception/image_projection_based_fusion/schema/pointpainting.schema.json b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
index 036628d72e70a..1d1fcb5b0ad16 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
@@ -52,18 +52,6 @@
"type": "integer",
"description": "A size of encoder input feature channels.",
"default": 12
- },
- "yaw_norm_thresholds": {
- "type": "array",
- "description": "An array of distance threshold values of norm of yaw [rad].",
- "default": [0.3, 0.3, 0.3, 0.3, 0.0],
- "minimum": 0.0,
- "maximum": 1.0
- },
- "has_twist": {
- "type": "boolean",
- "description": "Indicates whether the model outputs twist value.",
- "default": false
}
}
},
@@ -84,44 +72,6 @@
}
}
},
- "post_process_params": {
- "type": "object",
- "properties": {
- "score_threshold": {
- "type": "number",
- "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
- "default": 0.4,
- "minimum": 0.0,
- "maximum": 1.0
- },
- "circle_nms_dist_threshold": {
- "type": "number",
- "description": "",
- "default": 0.3,
- "minimum": 0.0,
- "maximum": 1.0
- },
- "iou_nms_target_class_names": {
- "type": "array",
- "description": "An array of class names to be target in NMS.",
- "default": ["CAR"],
- "uniqueItems": true
- },
- "iou_search_distance_2d": {
- "type": "number",
- "description": "A maximum distance value to search the nearest objects.",
- "default": 10.0,
- "minimum": 0.0
- },
- "iou_nms_threshold": {
- "type": "number",
- "description": "A threshold value of NMS using IoU score.",
- "default": 0.1,
- "minimum": 0.0,
- "maximum": 1.0
- }
- }
- },
"omp_params": {
"type": "object",
"properties": {
@@ -134,7 +84,7 @@
}
}
},
- "required": ["model_params", "densification_params", "post_process_params", "omp_params"]
+ "required": ["model_params", "densification_params", "omp_params"]
}
},
"properties": {
diff --git a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
new file mode 100644
index 0000000000000..272ad26e38b30
--- /dev/null
+++ b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
@@ -0,0 +1,86 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for Point Painting Fusion Node",
+ "type": "object",
+ "definitions": {
+ "pointpainting_ml_package": {
+ "type": "object",
+ "properties": {
+ "build_only": {
+ "type": "boolean",
+ "description": "shutdown the node after TensorRT engine file is built.",
+ "default": false
+ },
+ "trt_precision": {
+ "type": "string",
+ "description": "TensorRT inference precision.",
+ "default": "fp16",
+ "enum": ["fp32", "fp16"]
+ },
+ "post_process_params": {
+ "type": "object",
+ "properties": {
+ "score_threshold": {
+ "type": "number",
+ "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
+ "default": 0.4,
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "yaw_norm_thresholds": {
+ "type": "array",
+ "description": "An array of distance threshold values of norm of yaw [rad].",
+ "default": [0.3, 0.3, 0.3, 0.3, 0.0],
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "circle_nms_dist_threshold": {
+ "type": "number",
+ "description": "",
+ "default": 0.3,
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "iou_nms_target_class_names": {
+ "type": "array",
+ "description": "An array of class names to be target in NMS.",
+ "default": ["CAR"],
+ "uniqueItems": true
+ },
+ "iou_search_distance_2d": {
+ "type": "number",
+ "description": "A maximum distance value to search the nearest objects.",
+ "default": 10.0,
+ "minimum": 0.0
+ },
+ "iou_nms_threshold": {
+ "type": "number",
+ "description": "A threshold value of NMS using IoU score.",
+ "default": 0.1,
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "has_twist": {
+ "type": "boolean",
+ "description": "Indicates whether the model outputs twist value.",
+ "default": false
+ }
+ }
+ }
+ },
+ "required": ["post_process_params"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/pointpainting_ml_package"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+}
From 0ef230e691771ca148dbe47cb86d3238529cfd20 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 14 Mar 2024 18:29:06 +0900
Subject: [PATCH 07/20] fix: default param
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../config/pointpainting.param.yaml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
index dcf90eca8a045..137925bd95830 100755
--- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -11,7 +11,7 @@
encoder_in_feature_size: 12
densification_params:
world_frame_id: "map"
- num_past_frames: 0
+ num_past_frames: 1
omp_params:
# omp params
num_threads: 1
From b81ec45ca2d7cf954e6c5a682a30c21e769ae76f Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Sun, 17 Mar 2024 21:43:44 +0900
Subject: [PATCH 08/20] refactor: rename param file
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../detector/camera_lidar_detector.launch.xml | 4 +-
.../detector/lidar_dnn_detector.launch.xml | 6 +-
.../launch/perception.launch.xml | 4 +-
.../config/pointpainting.param.yaml | 27 ++--
.../pointpainting_ml_package.param.yaml | 27 ++--
.../docs/pointpainting-fusion.md | 4 +-
.../launch/pointpainting_fusion.launch.xml | 4 +-
.../schema/pointpainting.schema.json | 114 ++++++++---------
.../pointpainting_ml_package.schema.json | 116 ++++++++++--------
.../config/centerpoint.param.yaml | 25 ++--
.../config/centerpoint_ml_package.param.yaml | 9 ++
...=> centerpoint_tiny_ml_package.param.yaml} | 2 -
.../lidar_centerpoint_ml_package.param.yaml | 19 ---
.../launch/lidar_centerpoint.launch.xml | 4 +-
14 files changed, 182 insertions(+), 183 deletions(-)
mode change 100755 => 100644 perception/image_projection_based_fusion/config/pointpainting.param.yaml
mode change 100644 => 100755 perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
create mode 100644 perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
rename perception/lidar_centerpoint/config/{centerpoint_tiny.param.yaml => centerpoint_tiny_ml_package.param.yaml} (79%)
delete mode 100644 perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 55153820ed6bc..758918e32f1d5 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -82,8 +82,8 @@
<arg name="output/objects" value="objects"/>
<arg name="model_name" value="$(var lidar_detection_model)"/>
<arg name="model_path" value="$(var pointpainting_model_path)"/>
- <arg name="model_param_path" value="$(var model_path)/$(var lidar_detection_model).param.yaml"/>
- <arg name="ml_package_param_path" value="$(var ml_package_param_path)/pointpainting_ml_package.param.yaml"/>
+ <arg name="model_param_path" value="$(var lidar_model_param_path)/pointpainting.param.yaml"/>
+ <arg name="ml_package_param_path" value="$(var model_path)/pointpainting_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
<arg name="use_pointcloud_container" value="true"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index 20f0ed32489f3..f8fad9ef056d8 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -16,9 +16,9 @@
<arg name="output/objects" value="objects"/>
<arg name="model_name" value="$(var centerpoint_model_name)"/>
<arg name="model_path" value="$(var centerpoint_model_path)"/>
- <arg name="model_param_path" value="$(var model_path)/$(var centerpoint_model_name).param.yaml"/>
- <arg name="ml_package_param_path" value="$(var ml_package_param_path)/lidar_centerpoint_ml_package.param.yaml"/>
- <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
+ <arg name="model_param_path" value="$(var lidar_model_param_path)/centerpoint.param.yaml"/>
+ <arg name="ml_package_param_path" value="$(var model_path)/$(var centerpoint_model_name)_ml_package.param.yaml"/>
+ <arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 2556c14cae244..c6213ee313c2b 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -13,7 +13,7 @@
<arg name="object_recognition_detection_roi_cluster_fusion_param_path"/>
<arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
<arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
- <arg name="object_recognition_detection_ml_package_param_path"/>
+ <arg name="object_recognition_detection_lidar_model_param_path"/>
<arg name="object_recognition_detection_radar_lanelet_filtering_range_param_path"/>
<arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
<arg name="object_recognition_detection_radar_object_clustering_param_path"/>
@@ -183,7 +183,7 @@
<arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
<arg name="roi_pointcloud_fusion_param_path" value="$(var object_recognition_detection_roi_pointcloud_fusion_param_path)"/>
<arg name="roi_detected_object_fusion_param_path" value="$(var object_recognition_detection_roi_detected_object_fusion_param_path)"/>
- <arg name="ml_package_param_path" value="$(var object_recognition_detection_ml_package_param_path)"/>
+ <arg name="lidar_model_param_path" value="$(var object_recognition_detection_lidar_model_param_path)"/>
<arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
<arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
<arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
old mode 100755
new mode 100644
index 137925bd95830..224924e5de52b
--- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -1,17 +1,20 @@
/**:
ros__parameters:
- model_params:
- class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
- paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
- point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
- max_voxel_size: 40000
- point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
- voxel_size: [0.32, 0.32, 8.0]
- downsample_factor: 1
- encoder_in_feature_size: 12
+ encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+ encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+ head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+ build_only: false
+ trt_precision: fp16
+ post_process_params:
+ # post-process params
+ circle_nms_dist_threshold: 0.3
+ iou_nms_target_class_names: ["CAR"]
+ iou_nms_search_distance_2d: 10.0
+ iou_nms_threshold: 0.1
+ score_threshold: 0.35
+ yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+ has_twist: false
densification_params:
world_frame_id: "map"
num_past_frames: 1
- omp_params:
- # omp params
- num_threads: 1
diff --git a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
old mode 100644
new mode 100755
index 5183d4a44e1b9..61d2124afb17a
--- a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
@@ -1,17 +1,14 @@
/**:
ros__parameters:
- encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
- encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
- head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
- head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
- build_only: false
- trt_precision: fp16
- post_process_params:
- # post-process params
- circle_nms_dist_threshold: 0.3
- iou_nms_target_class_names: ["CAR"]
- iou_nms_search_distance_2d: 10.0
- iou_nms_threshold: 0.1
- score_threshold: 0.35
- yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- has_twist: false
+ model_params:
+ class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+ paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
+ point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
+ max_voxel_size: 40000
+ point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
+ voxel_size: [0.32, 0.32, 8.0]
+ downsample_factor: 1
+ encoder_in_feature_size: 12
+ omp_params:
+ # omp params
+ num_threads: 1
diff --git a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md
index d50a3f97390ca..5f5e45941c549 100644
--- a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md
+++ b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md
@@ -36,8 +36,8 @@ The lidar points are projected onto the output of an image-only 2d object detect
| Name | Type | Default Value | Description |
| ------------------------------- | ------ | ------------- | ----------------------------------------------------------- |
| `score_threshold` | float | `0.4` | detected objects with score less than threshold are ignored |
-| `densification_world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud |
-| `densification_num_past_frames` | int | `0` | the number of past frames to fuse with the current frame |
+| `densification.world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud |
+| `densification.num_past_frames` | int | `1` | the number of past frames to fuse with the current frame |
| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` |
| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file |
| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file |
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index 2cd6130cf1be3..db6be77d2ff74 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -21,8 +21,8 @@
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="model_name" default="pointpainting" description="options: `pointpainting`"/>
<arg name="model_path" default="$(var data_path)/image_projection_based_fusion"/>
- <arg name="model_param_path" default="$(find-pkg-share model_path)/$(var model_name).param.yaml"/>
- <arg name="ml_package_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting_ml_package.param.yaml"/>
+ <arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting.param.yaml"/>
+ <arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
<arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
diff --git a/perception/image_projection_based_fusion/schema/pointpainting.schema.json b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
index 1d1fcb5b0ad16..747e22a1379fa 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
@@ -6,85 +6,69 @@
"pointpainting": {
"type": "object",
"properties": {
- "model_params": {
+ "build_only": {
+ "type": "boolean",
+ "description": "shutdown the node after TensorRT engine file is built.",
+ "default": false
+ },
+ "trt_precision": {
+ "type": "string",
+ "description": "TensorRT inference precision.",
+ "default": "fp16",
+ "enum": ["fp32", "fp16"]
+ },
+ "post_process_params": {
"type": "object",
- "description": "Parameters for model configuration.",
"properties": {
- "class_names": {
- "type": "array",
- "description": "An array of class names will be predicted.",
- "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
- "uniqueItems": true
+ "score_threshold": {
+ "type": "number",
+ "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
+ "default": 0.4,
+ "minimum": 0.0,
+ "maximum": 1.0
},
- "paint_class_names": {
+ "yaw_norm_thresholds": {
"type": "array",
- "description": "An array of class names will be painted by PointPainting",
- "default": ["CAR", "BICYCLE", "PEDESTRIAN"],
- "uniqueItems": true
+ "description": "An array of distance threshold values of norm of yaw [rad].",
+ "default": [0.3, 0.3, 0.3, 0.3, 0.0],
+ "minimum": 0.0,
+ "maximum": 1.0
},
- "point_feature_size": {
- "type": "integer",
- "description": "A number of channels of point feature layer.",
- "default": 7
+ "circle_nms_dist_threshold": {
+ "type": "number",
+ "description": "",
+ "default": 0.3,
+ "minimum": 0.0,
+ "maximum": 1.0
},
- "max_voxel_size": {
- "type": "integer",
- "description": "A maximum size of voxel grid.",
- "default": 40000
- },
- "point_cloud_range": {
+ "iou_nms_target_class_names": {
"type": "array",
- "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
- "default": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
+ "description": "An array of class names to be target in NMS.",
+ "default": ["CAR"],
+ "uniqueItems": true
},
- "voxel_size": {
- "type": "array",
- "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
- "default": [0.32, 0.32, 8.0]
+ "iou_search_distance_2d": {
+ "type": "number",
+ "description": "A maximum distance value to search the nearest objects.",
+ "default": 10.0,
+ "minimum": 0.0
},
- "down_sample_factor": {
- "type": "integer",
- "description": "A scale factor of downsampling points",
- "default": 1,
- "minimum": 1
+ "iou_nms_threshold": {
+ "type": "number",
+ "description": "A threshold value of NMS using IoU score.",
+ "default": 0.1,
+ "minimum": 0.0,
+ "maximum": 1.0
},
- "encoder_in_feature_size": {
- "type": "integer",
- "description": "A size of encoder input feature channels.",
- "default": 12
- }
- }
- },
- "densification_params": {
- "type": "object",
- "description": "Parameters for pointcloud densification.",
- "properties": {
- "world_frame_id": {
- "type": "string",
- "description": "A name of frame id where world coordinates system is defined with respect to.",
- "default": "map"
- },
- "num_past_frames": {
- "type": "integer",
- "description": "A number of past frames to be considered as same input frame.",
- "default": 0,
- "minimum": 0
- }
- }
- },
- "omp_params": {
- "type": "object",
- "properties": {
- "num_threads": {
- "type": "integer",
- "description": "The number of threads that is set to the environment variable OMP_NUM_THREADS.",
- "default": 1,
- "minimum": 1
+ "has_twist": {
+ "type": "boolean",
+ "description": "Indicates whether the model outputs twist value.",
+ "default": false
}
}
}
},
- "required": ["model_params", "densification_params", "omp_params"]
+ "required": ["post_process_params", "densification_params"]
}
},
"properties": {
diff --git a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
index 272ad26e38b30..34ff35b96a2da 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
@@ -1,74 +1,90 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
- "title": "Parameters for Point Painting Fusion Node",
+ "title": "Parameters for Point Painting ML model",
"type": "object",
"definitions": {
"pointpainting_ml_package": {
"type": "object",
"properties": {
- "build_only": {
- "type": "boolean",
- "description": "shutdown the node after TensorRT engine file is built.",
- "default": false
- },
- "trt_precision": {
- "type": "string",
- "description": "TensorRT inference precision.",
- "default": "fp16",
- "enum": ["fp32", "fp16"]
- },
- "post_process_params": {
+ "model_params": {
"type": "object",
+ "description": "Parameters for model configuration.",
"properties": {
- "score_threshold": {
- "type": "number",
- "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
- "default": 0.4,
- "minimum": 0.0,
- "maximum": 1.0
+ "class_names": {
+ "type": "array",
+ "description": "An array of class names will be predicted.",
+ "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+ "uniqueItems": true
},
- "yaw_norm_thresholds": {
+ "paint_class_names": {
"type": "array",
- "description": "An array of distance threshold values of norm of yaw [rad].",
- "default": [0.3, 0.3, 0.3, 0.3, 0.0],
- "minimum": 0.0,
- "maximum": 1.0
+ "description": "An array of class names will be painted by PointPainting",
+ "default": ["CAR", "BICYCLE", "PEDESTRIAN"],
+ "uniqueItems": true
},
- "circle_nms_dist_threshold": {
- "type": "number",
- "description": "",
- "default": 0.3,
- "minimum": 0.0,
- "maximum": 1.0
+ "point_feature_size": {
+ "type": "integer",
+ "description": "A number of channels of point feature layer.",
+ "default": 7
},
- "iou_nms_target_class_names": {
+ "max_voxel_size": {
+ "type": "integer",
+ "description": "A maximum size of voxel grid.",
+ "default": 40000
+ },
+ "point_cloud_range": {
"type": "array",
- "description": "An array of class names to be target in NMS.",
- "default": ["CAR"],
- "uniqueItems": true
+ "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+ "default": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
},
- "iou_search_distance_2d": {
- "type": "number",
- "description": "A maximum distance value to search the nearest objects.",
- "default": 10.0,
- "minimum": 0.0
+ "voxel_size": {
+ "type": "array",
+ "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+ "default": [0.32, 0.32, 8.0]
},
- "iou_nms_threshold": {
- "type": "number",
- "description": "A threshold value of NMS using IoU score.",
- "default": 0.1,
- "minimum": 0.0,
- "maximum": 1.0
+ "down_sample_factor": {
+ "type": "integer",
+ "description": "A scale factor of downsampling points",
+ "default": 1,
+ "minimum": 1
},
- "has_twist": {
- "type": "boolean",
- "description": "Indicates whether the model outputs twist value.",
- "default": false
+ "encoder_in_feature_size": {
+ "type": "integer",
+ "description": "A size of encoder input feature channels.",
+ "default": 12
+ }
+ }
+ },
+ "densification_params": {
+ "type": "object",
+ "description": "Parameters for pointcloud densification.",
+ "properties": {
+ "world_frame_id": {
+ "type": "string",
+ "description": "A name of frame id where world coordinates system is defined with respect to.",
+ "default": "map"
+ },
+ "num_past_frames": {
+ "type": "integer",
+ "description": "A number of past frames to be considered as same input frame.",
+ "default": 0,
+ "minimum": 0
+ }
+ }
+ },
+ "omp_params": {
+ "type": "object",
+ "properties": {
+ "num_threads": {
+ "type": "integer",
+ "description": "The number of threads that is set to the environment variable OMP_NUM_THREADS.",
+ "default": 1,
+ "minimum": 1
}
}
}
},
- "required": ["post_process_params"]
+ "required": ["model_params", "omp_params"]
}
},
"properties": {
diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index 398b28d08d025..fb2023e0172ac 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -1,11 +1,22 @@
/**:
ros__parameters:
- class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
- point_feature_size: 4
- max_voxel_size: 40000
- point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
- voxel_size: [0.32, 0.32, 10.0]
- downsample_factor: 1
- encoder_in_feature_size: 9
+ score_threshold: 0.35
+ has_twist: false
+ build_only: false
+
+ # weight files
+ encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+ encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+ head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+ head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+
+ # post-process params
+ circle_nms_dist_threshold: 0.5
+ iou_nms_target_class_names: ["CAR"]
+ iou_nms_search_distance_2d: 10.0
+ iou_nms_threshold: 0.1
+ yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+ trt_precision: fp16
+
densification_num_past_frames: 1
densification_world_frame_id: map
diff --git a/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
new file mode 100644
index 0000000000000..22ef65101287c
--- /dev/null
+++ b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
@@ -0,0 +1,9 @@
+/**:
+ ros__parameters:
+ class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+ point_feature_size: 4
+ max_voxel_size: 40000
+ point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+ voxel_size: [0.32, 0.32, 10.0]
+ downsample_factor: 1
+ encoder_in_feature_size: 9
diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
similarity index 79%
rename from perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
rename to perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
index b7055936b098f..69b8e7403d370 100644
--- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
@@ -7,5 +7,3 @@
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 2
encoder_in_feature_size: 9
- densification_num_past_frames: 1
- densification_world_frame_id: map
diff --git a/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml b/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml
deleted file mode 100644
index 60576d3139523..0000000000000
--- a/perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-/**:
- ros__parameters:
- score_threshold: 0.35
- has_twist: false
- build_only: false
-
- # weight files
- encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
- encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
- head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
- head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
-
- # post-process params
- circle_nms_dist_threshold: 0.5
- iou_nms_target_class_names: ["CAR"]
- iou_nms_search_distance_2d: 10.0
- iou_nms_threshold: 0.1
- yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- trt_precision: fp16
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index 09d248974cd21..c3565b386060e 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -5,8 +5,8 @@
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
<arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
- <arg name="model_param_path" default="$(var model_path)/$(var model_name).param.yaml"/>
- <arg name="ml_package_param_path" default="$(find-pkg-share lidar_centerpoint)/config/lidar_centerpoint_ml_package.param.yaml"/>
+ <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/centerpoint.param.yaml"/>
+ <arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
From 12890c5af469124381727faa677047e24cd2d655 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Wed, 10 Apr 2024 22:35:38 +0900
Subject: [PATCH 09/20] chore: typo
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../detection/detector/lidar_dnn_detector.launch.xml | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index f8fad9ef056d8..9ede1ad489b70 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -17,8 +17,8 @@
<arg name="model_name" value="$(var centerpoint_model_name)"/>
<arg name="model_path" value="$(var centerpoint_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/centerpoint.param.yaml"/>
- <arg name="ml_package_param_path" value="$(var model_path)/$(var centerpoint_model_name)_ml_package.param.yaml"/>
- <arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
+ <arg name="ml_package_param_path" value="$(var centerpoint_model_path)/$(var centerpoint_model_name)_ml_package.param.yaml"/>
+ <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
From f30631b30a14a03c426ce063e311c084db23a97a Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 11 Apr 2024 09:13:36 +0900
Subject: [PATCH 10/20] fix: align centerpoint param namespace with
pointpainting
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../config/centerpoint.param.yaml | 27 ++++++------
.../config/centerpoint_ml_package.param.yaml | 15 ++++---
.../centerpoint_tiny_ml_package.param.yaml | 15 ++++---
perception/lidar_centerpoint/src/node.cpp | 44 ++++++++++---------
4 files changed, 52 insertions(+), 49 deletions(-)
diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index fb2023e0172ac..7f61a00ac009a 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -1,22 +1,21 @@
/**:
ros__parameters:
- score_threshold: 0.35
- has_twist: false
- build_only: false
-
# weight files
encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
-
- # post-process params
- circle_nms_dist_threshold: 0.5
- iou_nms_target_class_names: ["CAR"]
- iou_nms_search_distance_2d: 10.0
- iou_nms_threshold: 0.1
- yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+ build_only: false
trt_precision: fp16
-
- densification_num_past_frames: 1
- densification_world_frame_id: map
+ post_process_params:
+ # post-process params
+ circle_nms_dist_threshold: 0.5
+ iou_nms_target_class_names: ["CAR"]
+ iou_nms_search_distance_2d: 10.0
+ iou_nms_threshold: 0.1
+ score_threshold: 0.35
+ yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+ has_twist: false
+ densification_params:
+ world_frame_id: map
+ num_past_frames: 1
diff --git a/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
index 22ef65101287c..4639cd4b6817f 100644
--- a/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
@@ -1,9 +1,10 @@
/**:
ros__parameters:
- class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
- point_feature_size: 4
- max_voxel_size: 40000
- point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
- voxel_size: [0.32, 0.32, 10.0]
- downsample_factor: 1
- encoder_in_feature_size: 9
+ model_params:
+ class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+ point_feature_size: 4
+ max_voxel_size: 40000
+ point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+ voxel_size: [0.32, 0.32, 10.0]
+ downsample_factor: 1
+ encoder_in_feature_size: 9
diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
index 69b8e7403d370..5c6b6dddb5772 100644
--- a/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
@@ -1,9 +1,10 @@
/**:
ros__parameters:
- class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
- point_feature_size: 4
- max_voxel_size: 40000
- point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
- voxel_size: [0.32, 0.32, 10.0]
- downsample_factor: 2
- encoder_in_feature_size: 9
+ model_params:
+ class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+ point_feature_size: 4
+ max_voxel_size: 40000
+ point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+ voxel_size: [0.32, 0.32, 10.0]
+ downsample_factor: 2
+ encoder_in_feature_size: 9
diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp
index 09d2702bb4566..52079ed4e01c6 100644
--- a/perception/lidar_centerpoint/src/node.cpp
+++ b/perception/lidar_centerpoint/src/node.cpp
@@ -39,33 +39,34 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
: Node("lidar_center_point", node_options), tf_buffer_(this->get_clock())
{
const float score_threshold =
- static_cast<float>(this->declare_parameter<double>("score_threshold"));
- const float circle_nms_dist_threshold =
- static_cast<float>(this->declare_parameter<double>("circle_nms_dist_threshold"));
+ static_cast<float>(this->declare_parameter<double>("post_process_params.score_threshold"));
+ const float circle_nms_dist_threshold = static_cast<float>(
+ this->declare_parameter<double>("post_process_params.circle_nms_dist_threshold"));
const auto yaw_norm_thresholds =
- this->declare_parameter<std::vector<double>>("yaw_norm_thresholds");
+ this->declare_parameter<std::vector<double>>("post_process_params.yaw_norm_thresholds");
const std::string densification_world_frame_id =
- this->declare_parameter<std::string>("densification_world_frame_id");
+ this->declare_parameter<std::string>("densification_params.world_frame_id");
const int densification_num_past_frames =
- this->declare_parameter<int>("densification_num_past_frames");
+ this->declare_parameter<int>("densification_params.num_past_frames");
const std::string trt_precision = this->declare_parameter<std::string>("trt_precision");
const std::string encoder_onnx_path = this->declare_parameter<std::string>("encoder_onnx_path");
const std::string encoder_engine_path =
this->declare_parameter<std::string>("encoder_engine_path");
const std::string head_onnx_path = this->declare_parameter<std::string>("head_onnx_path");
const std::string head_engine_path = this->declare_parameter<std::string>("head_engine_path");
- class_names_ = this->declare_parameter<std::vector<std::string>>("class_names");
- has_twist_ = this->declare_parameter<bool>("has_twist");
- const std::size_t point_feature_size =
- static_cast<std::size_t>(this->declare_parameter<std::int64_t>("point_feature_size"));
+ class_names_ = this->declare_parameter<std::vector<std::string>>("model_params.class_names");
+ has_twist_ = this->declare_parameter<bool>("post_process_params.has_twist");
+ const std::size_t point_feature_size = static_cast<std::size_t>(
+ this->declare_parameter<std::int64_t>("model_params.point_feature_size"));
const std::size_t max_voxel_size =
- static_cast<std::size_t>(this->declare_parameter<std::int64_t>("max_voxel_size"));
- const auto point_cloud_range = this->declare_parameter<std::vector<double>>("point_cloud_range");
- const auto voxel_size = this->declare_parameter<std::vector<double>>("voxel_size");
- const std::size_t downsample_factor =
- static_cast<std::size_t>(this->declare_parameter<std::int64_t>("downsample_factor"));
- const std::size_t encoder_in_feature_size =
- static_cast<std::size_t>(this->declare_parameter<std::int64_t>("encoder_in_feature_size"));
+ static_cast<std::size_t>(this->declare_parameter<std::int64_t>("model_params.max_voxel_size"));
+ const auto point_cloud_range =
+ this->declare_parameter<std::vector<double>>("model_params.point_cloud_range");
+ const auto voxel_size = this->declare_parameter<std::vector<double>>("model_params.voxel_size");
+ const std::size_t downsample_factor = static_cast<std::size_t>(
+ this->declare_parameter<std::int64_t>("model_params.downsample_factor"));
+ const std::size_t encoder_in_feature_size = static_cast<std::size_t>(
+ this->declare_parameter<std::int64_t>("model_params.encoder_in_feature_size"));
const auto allow_remapping_by_area_matrix =
this->declare_parameter<std::vector<int64_t>>("allow_remapping_by_area_matrix");
const auto min_area_matrix = this->declare_parameter<std::vector<double>>("min_area_matrix");
@@ -77,10 +78,11 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
{
NMSParams p;
p.nms_type_ = NMS_TYPE::IoU_BEV;
- p.target_class_names_ =
- this->declare_parameter<std::vector<std::string>>("iou_nms_target_class_names");
- p.search_distance_2d_ = this->declare_parameter<double>("iou_nms_search_distance_2d");
- p.iou_threshold_ = this->declare_parameter<double>("iou_nms_threshold");
+ p.target_class_names_ = this->declare_parameter<std::vector<std::string>>(
+ "post_process_params.iou_nms_target_class_names");
+ p.search_distance_2d_ =
+ this->declare_parameter<double>("post_process_params.iou_nms_search_distance_2d");
+ p.iou_threshold_ = this->declare_parameter<double>("post_process_params.iou_nms_threshold");
iou_bev_nms_.setParameters(p);
}
From 408f611dcf269076a9bb61fe23af6dcf01476287 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 11 Apr 2024 09:45:57 +0900
Subject: [PATCH 11/20] fix(centerpoint): add schema json
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../schema/centerpoint.schemal.json | 104 ++++++++++++++++++
.../schema/centerpoint_ml_package.schema.json | 68 ++++++++++++
.../centerpoint_tiny_ml_package.schema.json | 69 ++++++++++++
3 files changed, 241 insertions(+)
create mode 100644 perception/lidar_centerpoint/schema/centerpoint.schemal.json
create mode 100644 perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json
create mode 100644 perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json
diff --git a/perception/lidar_centerpoint/schema/centerpoint.schemal.json b/perception/lidar_centerpoint/schema/centerpoint.schemal.json
new file mode 100644
index 0000000000000..1b1b3f06f70d2
--- /dev/null
+++ b/perception/lidar_centerpoint/schema/centerpoint.schemal.json
@@ -0,0 +1,104 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for Lidar Centerpoint Node",
+ "type": "object",
+ "definitions": {
+ "centerpoint": {
+ "type": "object",
+ "properties": {
+ "build_only": {
+ "type": "boolean",
+ "description": "shutdown the node after TensorRT engine file is built.",
+ "default": false
+ },
+ "trt_precision": {
+ "type": "string",
+ "description": "TensorRT inference precision.",
+ "default": "fp16",
+ "enum": ["fp32", "fp16"]
+ },
+ "post_process_params": {
+ "type": "object",
+ "properties": {
+ "score_threshold": {
+ "type": "number",
+ "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
+ "default": 0.35,
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "yaw_norm_thresholds": {
+ "type": "array",
+ "description": "An array of distance threshold values of norm of yaw [rad].",
+ "default": [0.3, 0.3, 0.3, 0.3, 0.0],
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "circle_nms_dist_threshold": {
+ "type": "number",
+ "description": "",
+ "default": 0.5,
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "iou_nms_target_class_names": {
+ "type": "array",
+ "description": "An array of class names to be target in NMS.",
+ "default": ["CAR"],
+ "uniqueItems": true
+ },
+ "iou_nms_search_distance_2d": {
+ "type": "number",
+ "description": "A maximum distance value to search the nearest objects.",
+ "default": 10.0,
+ "minimum": 0.0
+ },
+ "iou_nms_threshold": {
+ "type": "number",
+ "description": "A threshold value of NMS using IoU score.",
+ "default": 0.1,
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "has_twist": {
+ "type": "boolean",
+ "description": "Indicates whether the model outputs twist value.",
+ "default": false
+ }
+ }
+ },
+ "densification_params": {
+ "type": "object",
+ "description": "Parameters for pointcloud densification.",
+ "properties": {
+ "world_frame_id": {
+ "type": "string",
+ "description": "A name of frame id where world coordinates system is defined with respect to.",
+ "default": "map"
+ },
+ "num_past_frames": {
+ "type": "integer",
+ "description": "A number of past frames to be considered as same input frame.",
+ "default": 1,
+ "minimum": 0
+ }
+ }
+ }
+ },
+ "required": ["post_process_params", "densification_params"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/centerpoint"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+ }
+
\ No newline at end of file
diff --git a/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json b/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json
new file mode 100644
index 0000000000000..2c5655c6201ed
--- /dev/null
+++ b/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json
@@ -0,0 +1,68 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for Centerpoint ML model",
+ "type": "object",
+ "definitions": {
+ "centerpoint_ml_package": {
+ "type": "object",
+ "properties": {
+ "model_params": {
+ "type": "object",
+ "description": "Parameters for model configuration.",
+ "properties": {
+ "class_names": {
+ "type": "array",
+ "description": "An array of class names will be predicted.",
+ "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+ "uniqueItems": true
+ },
+ "point_feature_size": {
+ "type": "integer",
+ "description": "A number of channels of point feature layer.",
+ "default": 4
+ },
+ "max_voxel_size": {
+ "type": "integer",
+ "description": "A maximum size of voxel grid.",
+ "default": 40000
+ },
+ "point_cloud_range": {
+ "type": "array",
+ "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+ "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+ },
+ "voxel_size": {
+ "type": "array",
+ "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+ "default": [0.32, 0.32, 10.0]
+ },
+ "down_sample_factor": {
+ "type": "integer",
+ "description": "A scale factor of downsampling points",
+ "default": 1,
+ "minimum": 1
+ },
+ "encoder_in_feature_size": {
+ "type": "integer",
+ "description": "A size of encoder input feature channels.",
+ "default": 9
+ }
+ }
+ }
+ },
+ "required": ["model_params"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/centerpoint_ml_package"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+}
diff --git a/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json b/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json
new file mode 100644
index 0000000000000..b77c4baaa2ced
--- /dev/null
+++ b/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json
@@ -0,0 +1,69 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for Centerpoint Tiny ML model",
+ "type": "object",
+ "definitions": {
+ "centerpoint_tiny_ml_package": {
+ "type": "object",
+ "properties": {
+ "model_params": {
+ "type": "object",
+ "description": "Parameters for model configuration.",
+ "properties": {
+ "class_names": {
+ "type": "array",
+ "description": "An array of class names will be predicted.",
+ "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+ "uniqueItems": true
+ },
+ "point_feature_size": {
+ "type": "integer",
+ "description": "A number of channels of point feature layer.",
+ "default": 4
+ },
+ "max_voxel_size": {
+ "type": "integer",
+ "description": "A maximum size of voxel grid.",
+ "default": 40000
+ },
+ "point_cloud_range": {
+ "type": "array",
+ "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+ "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+ },
+ "voxel_size": {
+ "type": "array",
+ "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+ "default": [0.32, 0.32, 10.0]
+ },
+ "down_sample_factor": {
+ "type": "integer",
+ "description": "A scale factor of downsampling points",
+ "default": 2,
+ "minimum": 1
+ },
+ "encoder_in_feature_size": {
+ "type": "integer",
+ "description": "A size of encoder input feature channels.",
+ "default": 9
+ }
+ }
+ }
+ },
+ "required": ["model_params"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/centerpoint_tiny_ml_package"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+ }
+
\ No newline at end of file
From daa82b56bc98e02644a25fc9568fb914c6b184dc Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 11 Apr 2024 09:46:20 +0900
Subject: [PATCH 12/20] fix(pointpainting): fix schema json typo
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../schema/pointpainting.schema.json | 19 ++++++++++++++++++-
.../pointpainting_ml_package.schema.json | 17 -----------------
2 files changed, 18 insertions(+), 18 deletions(-)
diff --git a/perception/image_projection_based_fusion/schema/pointpainting.schema.json b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
index 747e22a1379fa..e2db17bc2a530 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
@@ -47,7 +47,7 @@
"default": ["CAR"],
"uniqueItems": true
},
- "iou_search_distance_2d": {
+ "iou_nms_search_distance_2d": {
"type": "number",
"description": "A maximum distance value to search the nearest objects.",
"default": 10.0,
@@ -66,6 +66,23 @@
"default": false
}
}
+ },
+ "densification_params": {
+ "type": "object",
+ "description": "Parameters for pointcloud densification.",
+ "properties": {
+ "world_frame_id": {
+ "type": "string",
+ "description": "A name of frame id where world coordinates system is defined with respect to.",
+ "default": "map"
+ },
+ "num_past_frames": {
+ "type": "integer",
+ "description": "A number of past frames to be considered as same input frame.",
+ "default": 0,
+ "minimum": 0
+ }
+ }
}
},
"required": ["post_process_params", "densification_params"]
diff --git a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
index 34ff35b96a2da..9617bad77ea21 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
@@ -55,23 +55,6 @@
}
}
},
- "densification_params": {
- "type": "object",
- "description": "Parameters for pointcloud densification.",
- "properties": {
- "world_frame_id": {
- "type": "string",
- "description": "A name of frame id where world coordinates system is defined with respect to.",
- "default": "map"
- },
- "num_past_frames": {
- "type": "integer",
- "description": "A number of past frames to be considered as same input frame.",
- "default": 0,
- "minimum": 0
- }
- }
- },
"omp_params": {
"type": "object",
"properties": {
From 1724c8b1bdb66398aed626ea0bd99319698d17f0 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 11 Apr 2024 00:48:27 +0000
Subject: [PATCH 13/20] style(pre-commit): autofix
---
.../schema/centerpoint.schemal.json | 197 +++++++++---------
.../centerpoint_tiny_ml_package.schema.json | 131 ++++++------
2 files changed, 163 insertions(+), 165 deletions(-)
diff --git a/perception/lidar_centerpoint/schema/centerpoint.schemal.json b/perception/lidar_centerpoint/schema/centerpoint.schemal.json
index 1b1b3f06f70d2..d8abf5c00be0e 100644
--- a/perception/lidar_centerpoint/schema/centerpoint.schemal.json
+++ b/perception/lidar_centerpoint/schema/centerpoint.schemal.json
@@ -1,104 +1,103 @@
{
- "$schema": "http://json-schema.org/draft-07/schema#",
- "title": "Parameters for Lidar Centerpoint Node",
- "type": "object",
- "definitions": {
- "centerpoint": {
- "type": "object",
- "properties": {
- "build_only": {
- "type": "boolean",
- "description": "shutdown the node after TensorRT engine file is built.",
- "default": false
- },
- "trt_precision": {
- "type": "string",
- "description": "TensorRT inference precision.",
- "default": "fp16",
- "enum": ["fp32", "fp16"]
- },
- "post_process_params": {
- "type": "object",
- "properties": {
- "score_threshold": {
- "type": "number",
- "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
- "default": 0.35,
- "minimum": 0.0,
- "maximum": 1.0
- },
- "yaw_norm_thresholds": {
- "type": "array",
- "description": "An array of distance threshold values of norm of yaw [rad].",
- "default": [0.3, 0.3, 0.3, 0.3, 0.0],
- "minimum": 0.0,
- "maximum": 1.0
- },
- "circle_nms_dist_threshold": {
- "type": "number",
- "description": "",
- "default": 0.5,
- "minimum": 0.0,
- "maximum": 1.0
- },
- "iou_nms_target_class_names": {
- "type": "array",
- "description": "An array of class names to be target in NMS.",
- "default": ["CAR"],
- "uniqueItems": true
- },
- "iou_nms_search_distance_2d": {
- "type": "number",
- "description": "A maximum distance value to search the nearest objects.",
- "default": 10.0,
- "minimum": 0.0
- },
- "iou_nms_threshold": {
- "type": "number",
- "description": "A threshold value of NMS using IoU score.",
- "default": 0.1,
- "minimum": 0.0,
- "maximum": 1.0
- },
- "has_twist": {
- "type": "boolean",
- "description": "Indicates whether the model outputs twist value.",
- "default": false
- }
- }
- },
- "densification_params": {
- "type": "object",
- "description": "Parameters for pointcloud densification.",
- "properties": {
- "world_frame_id": {
- "type": "string",
- "description": "A name of frame id where world coordinates system is defined with respect to.",
- "default": "map"
- },
- "num_past_frames": {
- "type": "integer",
- "description": "A number of past frames to be considered as same input frame.",
- "default": 1,
- "minimum": 0
- }
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for Lidar Centerpoint Node",
+ "type": "object",
+ "definitions": {
+ "centerpoint": {
+ "type": "object",
+ "properties": {
+ "build_only": {
+ "type": "boolean",
+ "description": "shutdown the node after TensorRT engine file is built.",
+ "default": false
+ },
+ "trt_precision": {
+ "type": "string",
+ "description": "TensorRT inference precision.",
+ "default": "fp16",
+ "enum": ["fp32", "fp16"]
+ },
+ "post_process_params": {
+ "type": "object",
+ "properties": {
+ "score_threshold": {
+ "type": "number",
+ "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
+ "default": 0.35,
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "yaw_norm_thresholds": {
+ "type": "array",
+ "description": "An array of distance threshold values of norm of yaw [rad].",
+ "default": [0.3, 0.3, 0.3, 0.3, 0.0],
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "circle_nms_dist_threshold": {
+ "type": "number",
+ "description": "",
+ "default": 0.5,
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "iou_nms_target_class_names": {
+ "type": "array",
+ "description": "An array of class names to be target in NMS.",
+ "default": ["CAR"],
+ "uniqueItems": true
+ },
+ "iou_nms_search_distance_2d": {
+ "type": "number",
+ "description": "A maximum distance value to search the nearest objects.",
+ "default": 10.0,
+ "minimum": 0.0
+ },
+ "iou_nms_threshold": {
+ "type": "number",
+ "description": "A threshold value of NMS using IoU score.",
+ "default": 0.1,
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
+ "has_twist": {
+ "type": "boolean",
+ "description": "Indicates whether the model outputs twist value.",
+ "default": false
}
}
},
- "required": ["post_process_params", "densification_params"]
- }
- },
- "properties": {
- "/**": {
- "type": "object",
- "properties": {
- "ros__parameters": {
- "$ref": "#/definitions/centerpoint"
+ "densification_params": {
+ "type": "object",
+ "description": "Parameters for pointcloud densification.",
+ "properties": {
+ "world_frame_id": {
+ "type": "string",
+ "description": "A name of frame id where world coordinates system is defined with respect to.",
+ "default": "map"
+ },
+ "num_past_frames": {
+ "type": "integer",
+ "description": "A number of past frames to be considered as same input frame.",
+ "default": 1,
+ "minimum": 0
+ }
}
- },
- "required": ["ros__parameters"]
- }
- },
- "required": ["/**"]
- }
-
\ No newline at end of file
+ }
+ },
+ "required": ["post_process_params", "densification_params"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/centerpoint"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+}
diff --git a/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json b/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json
index b77c4baaa2ced..55329e21ea8ab 100644
--- a/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json
+++ b/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json
@@ -1,69 +1,68 @@
{
- "$schema": "http://json-schema.org/draft-07/schema#",
- "title": "Parameters for Centerpoint Tiny ML model",
- "type": "object",
- "definitions": {
- "centerpoint_tiny_ml_package": {
- "type": "object",
- "properties": {
- "model_params": {
- "type": "object",
- "description": "Parameters for model configuration.",
- "properties": {
- "class_names": {
- "type": "array",
- "description": "An array of class names will be predicted.",
- "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
- "uniqueItems": true
- },
- "point_feature_size": {
- "type": "integer",
- "description": "A number of channels of point feature layer.",
- "default": 4
- },
- "max_voxel_size": {
- "type": "integer",
- "description": "A maximum size of voxel grid.",
- "default": 40000
- },
- "point_cloud_range": {
- "type": "array",
- "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
- "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
- },
- "voxel_size": {
- "type": "array",
- "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
- "default": [0.32, 0.32, 10.0]
- },
- "down_sample_factor": {
- "type": "integer",
- "description": "A scale factor of downsampling points",
- "default": 2,
- "minimum": 1
- },
- "encoder_in_feature_size": {
- "type": "integer",
- "description": "A size of encoder input feature channels.",
- "default": 9
- }
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for Centerpoint Tiny ML model",
+ "type": "object",
+ "definitions": {
+ "centerpoint_tiny_ml_package": {
+ "type": "object",
+ "properties": {
+ "model_params": {
+ "type": "object",
+ "description": "Parameters for model configuration.",
+ "properties": {
+ "class_names": {
+ "type": "array",
+ "description": "An array of class names will be predicted.",
+ "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+ "uniqueItems": true
+ },
+ "point_feature_size": {
+ "type": "integer",
+ "description": "A number of channels of point feature layer.",
+ "default": 4
+ },
+ "max_voxel_size": {
+ "type": "integer",
+ "description": "A maximum size of voxel grid.",
+ "default": 40000
+ },
+ "point_cloud_range": {
+ "type": "array",
+ "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+ "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+ },
+ "voxel_size": {
+ "type": "array",
+ "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+ "default": [0.32, 0.32, 10.0]
+ },
+ "down_sample_factor": {
+ "type": "integer",
+ "description": "A scale factor of downsampling points",
+ "default": 2,
+ "minimum": 1
+ },
+ "encoder_in_feature_size": {
+ "type": "integer",
+ "description": "A size of encoder input feature channels.",
+ "default": 9
}
}
- },
- "required": ["model_params"]
- }
- },
- "properties": {
- "/**": {
- "type": "object",
- "properties": {
- "ros__parameters": {
- "$ref": "#/definitions/centerpoint_tiny_ml_package"
- }
- },
- "required": ["ros__parameters"]
- }
- },
- "required": ["/**"]
- }
-
\ No newline at end of file
+ }
+ },
+ "required": ["model_params"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/centerpoint_tiny_ml_package"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+}
From e65212306c0f37f59c3748f7e71fc114ef355c6e Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 11 Apr 2024 11:33:53 +0900
Subject: [PATCH 14/20] docs: update pointpainting fusion doc
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../docs/pointpainting-fusion.md | 27 +++++++++++--------
1 file changed, 16 insertions(+), 11 deletions(-)
diff --git a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md
index 5f5e45941c549..85e740d95ebd0 100644
--- a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md
+++ b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md
@@ -33,17 +33,22 @@ The lidar points are projected onto the output of an image-only 2d object detect
### Core Parameters
-| Name | Type | Default Value | Description |
-| ------------------------------- | ------ | ------------- | ----------------------------------------------------------- |
-| `score_threshold` | float | `0.4` | detected objects with score less than threshold are ignored |
-| `densification.world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud |
-| `densification.num_past_frames` | int | `1` | the number of past frames to fuse with the current frame |
-| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` |
-| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file |
-| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file |
-| `head_onnx_path` | string | `""` | path to DetectionHead ONNX file |
-| `head_engine_path` | string | `""` | path to DetectionHead TensorRT Engine file |
-| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built |
+| Name | Type | Default Value | Description |
+| ------------------------------------------------ | ------------ | ------------------------- | ----------------------------------------------------------- |
+| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file |
+| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file |
+| `head_onnx_path` | string | `""` | path to DetectionHead ONNX file |
+| `head_engine_path` | string | `""` | path to DetectionHead TensorRT Engine file |
+| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built |
+| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` |
+| `post_process_params.score_threshold` | double | `0.4` | detected objects with score less than threshold are ignored |
+| `post_process_params.yaw_norm_thresholds` | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. |
+| `post_process_params.iou_nms_target_class_names` | list[string] | ["CAR"] | An array of class names to be target in NMS. |
+| `post_process_params.iou_nms_search_distance_2d` | double | 10.0 | A maximum distance value to search the nearest objects. |
+| `post_process_params.iou_nms_threshold` | double | 0.1 | A threshold value of NMS using IoU score. |
+| `post_process_params.has_twist` | boolean | false | Indicates whether the model outputs twist value. |
+| `densification_params.world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud |
+| `densification_params.num_past_frames` | int | `1` | the number of past frames to fuse with the current frame |
## Assumptions / Known limits
From 4823bdb1c8c881c9d39d2bf0a87d30a55045d6a9 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 11 Apr 2024 11:45:36 +0900
Subject: [PATCH 15/20] docs: update lidar centerpoint doc
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
perception/lidar_centerpoint/README.md | 30 ++++++++++++++------------
1 file changed, 16 insertions(+), 14 deletions(-)
diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md
index ed71349d5bd7f..09cee5266760c 100644
--- a/perception/lidar_centerpoint/README.md
+++ b/perception/lidar_centerpoint/README.md
@@ -30,20 +30,22 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
### Core Parameters
-| Name | Type | Default Value | Description |
-| ------------------------------- | ------------ | ------------- | ------------------------------------------------------------- |
-| `score_threshold` | float | `0.4` | detected objects with score less than threshold are ignored |
-| `densification_world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud |
-| `densification_num_past_frames` | int | `1` | the number of past frames to fuse with the current frame |
-| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` |
-| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file |
-| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file |
-| `head_onnx_path` | string | `""` | path to DetectionHead ONNX file |
-| `head_engine_path` | string | `""` | path to DetectionHead TensorRT Engine file |
-| `nms_iou_target_class_names` | list[string] | - | target classes for IoU-based Non Maximum Suppression |
-| `nms_iou_search_distance_2d` | double | - | If two objects are farther than the value, NMS isn't applied. |
-| `nms_iou_threshold` | double | - | IoU threshold for the IoU-based Non Maximum Suppression |
-| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built |
+| Name | Type | Default Value | Description |
+| ------------------------------------------------ | ------------ | ------------------------- | ------------------------------------------------------------- |
+| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file |
+| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file |
+| `head_onnx_path` | string | `""` | path to DetectionHead ONNX file |
+| `head_engine_path` | string | `""` | path to DetectionHead TensorRT Engine file |
+| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built |
+| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` |
+| `post_process_params.score_threshold` | double | `0.4` | detected objects with score less than threshold are ignored |
+| `post_process_params.yaw_norm_thresholds` | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. |
+| `post_process_params.iou_nms_target_class_names` | list[string] | - | target classes for IoU-based Non Maximum Suppression |
+| `post_process_params.iou_nms_search_distance_2d` | double | - | If two objects are farther than the value, NMS isn't applied. |
+| `post_process_params.iou_nms_threshold` | double | - | IoU threshold for the IoU-based Non Maximum Suppression |
+| `post_process_params.has_twist` | boolean | false | Indicates whether the model outputs twist value. |
+| `densification_params.world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud |
+| `densification_params.num_past_frames` | int | `1` | the number of past frames to fuse with the current frame |
### The `build_only` option
From 995726beea3cad8a3f1fcd210c73531bf7a9be61 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 18 Apr 2024 16:55:24 +0900
Subject: [PATCH 16/20] fix: change omp param
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../config/pointpainting.param.yaml | 3 ++
.../pointpainting_ml_package.param.yaml | 3 --
.../schema/pointpainting.schema.json | 49 ++++++++++++-------
3 files changed, 33 insertions(+), 22 deletions(-)
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
index 94c03611adedb..f6c8a50e45147 100644
--- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -19,3 +19,6 @@
densification_params:
world_frame_id: "map"
num_past_frames: 1
+ omp_params:
+ # omp params
+ num_threads: 1
diff --git a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
index 61d2124afb17a..0110f373de63d 100755
--- a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
@@ -9,6 +9,3 @@
voxel_size: [0.32, 0.32, 8.0]
downsample_factor: 1
encoder_in_feature_size: 12
- omp_params:
- # omp params
- num_threads: 1
diff --git a/perception/image_projection_based_fusion/schema/pointpainting.schema.json b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
index 1bf093fcca4ad..d8e741d421df8 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
@@ -17,6 +17,23 @@
"default": "fp16",
"enum": ["fp32", "fp16"]
},
+ "densification_params": {
+ "type": "object",
+ "description": "Parameters for pointcloud densification.",
+ "properties": {
+ "world_frame_id": {
+ "type": "string",
+ "description": "A name of frame id where world coordinates system is defined with respect to.",
+ "default": "map"
+ },
+ "num_past_frames": {
+ "type": "integer",
+ "description": "A number of past frames to be considered as same input frame.",
+ "default": 0,
+ "minimum": 0
+ }
+ }
+ },
"post_process_params": {
"type": "object",
"properties": {
@@ -27,13 +44,6 @@
"minimum": 0.0,
"maximum": 1.0
},
- "yaw_norm_thresholds": {
- "type": "array",
- "description": "An array of distance threshold values of norm of yaw [rad].",
- "default": [0.3, 0.3, 0.3, 0.3, 0.0],
- "minimum": 0.0,
- "maximum": 1.0
- },
"circle_nms_dist_threshold": {
"type": "number",
"description": "",
@@ -60,6 +70,13 @@
"minimum": 0.0,
"maximum": 1.0
},
+ "yaw_norm_thresholds": {
+ "type": "array",
+ "description": "An array of distance threshold values of norm of yaw [rad].",
+ "default": [0.3, 0.3, 0.3, 0.3, 0.0],
+ "minimum": 0.0,
+ "maximum": 1.0
+ },
"has_variance": {
"type": "boolean",
"description": "Indicates whether the model outputs variance value.",
@@ -72,25 +89,19 @@
}
}
},
- "densification_params": {
+ "omp_params": {
"type": "object",
- "description": "Parameters for pointcloud densification.",
"properties": {
- "world_frame_id": {
- "type": "string",
- "description": "A name of frame id where world coordinates system is defined with respect to.",
- "default": "map"
- },
- "num_past_frames": {
+ "num_threads": {
"type": "integer",
- "description": "A number of past frames to be considered as same input frame.",
- "default": 0,
- "minimum": 0
+ "description": "The number of threads that is set to the environment variable OMP_NUM_THREADS.",
+ "default": 1,
+ "minimum": 1
}
}
}
},
- "required": ["post_process_params", "densification_params"]
+ "required": ["densification_params", "post_process_params", "omp_params"]
}
},
"properties": {
From dc19732f85af09597f733374dcd3a9487f410093 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 18 Apr 2024 21:02:24 +0900
Subject: [PATCH 17/20] fix:change twist and variance to model params
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../config/pointpainting.param.yaml | 2 --
.../pointpainting_ml_package.param.yaml | 2 ++
.../src/pointpainting_fusion/node.cpp | 4 +--
.../config/centerpoint.param.yaml | 2 --
.../config/centerpoint_ml_package.param.yaml | 2 ++
.../config/centerpoint_sigma.param.yaml | 27 -------------------
.../centerpoint_sigma_ml_package.param.yaml | 12 +++++++++
.../centerpoint_tiny_ml_package.param.yaml | 2 ++
perception/lidar_centerpoint/src/node.cpp | 4 +--
9 files changed, 22 insertions(+), 35 deletions(-)
delete mode 100644 perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml
create mode 100644 perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
index f6c8a50e45147..61dee9005fc7a 100644
--- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -14,8 +14,6 @@
iou_nms_threshold: 0.1
score_threshold: 0.35
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- has_twist: false
- has_variance: false
densification_params:
world_frame_id: "map"
num_past_frames: 1
diff --git a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
index 0110f373de63d..ca76a8ecf2dac 100755
--- a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
@@ -9,3 +9,5 @@
voxel_size: [0.32, 0.32, 8.0]
downsample_factor: 1
encoder_in_feature_size: 12
+ has_twist: false
+ has_variance: false
diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
index f06521526fb90..2c33df0b65afc 100644
--- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
+++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -140,8 +140,8 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
isClassTable_.erase(cls);
}
}
- has_twist_ = this->declare_parameter<bool>("post_process_params.has_twist");
- has_variance_ = this->declare_parameter<bool>("post_process_params.has_variance");
+ has_twist_ = this->declare_parameter<bool>("model_params.has_twist");
+ has_variance_ = this->declare_parameter<bool>("model_params.has_variance");
const std::size_t point_feature_size = static_cast<std::size_t>(
this->declare_parameter<std::int64_t>("model_params.point_feature_size"));
const std::size_t max_voxel_size =
diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index 4c69bae9f124a..b08273986d86d 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -15,8 +15,6 @@
iou_nms_threshold: 0.1
score_threshold: 0.35
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- has_variance: false
- has_twist: false
densification_params:
world_frame_id: map
num_past_frames: 1
diff --git a/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
index 4639cd4b6817f..c8d17890e33be 100644
--- a/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
@@ -8,3 +8,5 @@
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 1
encoder_in_feature_size: 9
+ has_variance: false
+ has_twist: false
diff --git a/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml
deleted file mode 100644
index c217f6321381a..0000000000000
--- a/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml
+++ /dev/null
@@ -1,27 +0,0 @@
-/**:
- ros__parameters:
- class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
- point_feature_size: 4
- max_voxel_size: 40000
- point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
- voxel_size: [0.32, 0.32, 10.0]
- downsample_factor: 1
- encoder_in_feature_size: 9
- # post-process params
- circle_nms_dist_threshold: 0.5
- iou_nms_target_class_names: ["CAR"]
- iou_nms_search_distance_2d: 10.0
- iou_nms_threshold: 0.1
- yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
- score_threshold: 0.35
- has_variance: true
- has_twist: true
- trt_precision: fp16
- densification_num_past_frames: 1
- densification_world_frame_id: map
-
- # weight files
- encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
- encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
- head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
- head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
diff --git a/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml
new file mode 100644
index 0000000000000..c8d17890e33be
--- /dev/null
+++ b/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml
@@ -0,0 +1,12 @@
+/**:
+ ros__parameters:
+ model_params:
+ class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+ point_feature_size: 4
+ max_voxel_size: 40000
+ point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+ voxel_size: [0.32, 0.32, 10.0]
+ downsample_factor: 1
+ encoder_in_feature_size: 9
+ has_variance: false
+ has_twist: false
diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
index 5c6b6dddb5772..2a3f9c8e75290 100644
--- a/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
@@ -8,3 +8,5 @@
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 2
encoder_in_feature_size: 9
+ has_variance: false
+ has_twist: false
diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp
index eac807bc9527e..d0abf72d888d3 100644
--- a/perception/lidar_centerpoint/src/node.cpp
+++ b/perception/lidar_centerpoint/src/node.cpp
@@ -55,10 +55,10 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
const std::string head_onnx_path = this->declare_parameter<std::string>("head_onnx_path");
const std::string head_engine_path = this->declare_parameter<std::string>("head_engine_path");
class_names_ = this->declare_parameter<std::vector<std::string>>("model_params.class_names");
- has_twist_ = this->declare_parameter<bool>("post_process_params.has_twist");
+ has_twist_ = this->declare_parameter<bool>("model_params.has_twist");
const std::size_t point_feature_size = static_cast<std::size_t>(
this->declare_parameter<std::int64_t>("model_params.point_feature_size"));
- has_variance_ = this->declare_parameter<bool>("post_process_params.has_variance");
+ has_variance_ = this->declare_parameter<bool>("model_params.has_variance");
const std::size_t max_voxel_size =
static_cast<std::size_t>(this->declare_parameter<std::int64_t>("model_params.max_voxel_size"));
const auto point_cloud_range =
From ad45a92da551d71abcfa00b76bd4b8e40aca5244 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Wed, 24 Apr 2024 16:41:06 +0900
Subject: [PATCH 18/20] fix: keep build_only in launch
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../config/pointpainting.param.yaml | 1 -
.../launch/pointpainting_fusion.launch.xml | 9 +++++++++
.../schema/pointpainting.schema.json | 5 -----
.../lidar_centerpoint/config/centerpoint.param.yaml | 1 -
.../launch/lidar_centerpoint.launch.xml | 7 +++++++
.../lidar_centerpoint/schema/centerpoint.schemal.json | 5 -----
6 files changed, 16 insertions(+), 12 deletions(-)
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
index 61dee9005fc7a..30136bc8f47d0 100644
--- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -4,7 +4,6 @@
encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
- build_only: false
trt_precision: fp16
post_process_params:
# post-process params
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index db6be77d2ff74..a22b2c2a13bda 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -25,6 +25,7 @@
<arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
<arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
+ <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>
@@ -52,6 +53,10 @@
<param from="$(var sync_param_path)"/>
<param from="$(var class_remapper_param_path)"/>
<param name="rois_number" value="$(var input/rois_number)"/>
+
+ <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6169 -->
+ <param name="build_only" value="$(var build_only)"/>
+
<!-- rois, camera and info -->
<param name="input/rois0" value="$(var input/rois0)"/>
<param name="input/camera_info0" value="$(var input/camera_info0)"/>
@@ -90,6 +95,10 @@
<param from="$(var sync_param_path)"/>
<param from="$(var class_remapper_param_path)"/>
<param name="rois_number" value="$(var input/rois_number)"/>
+
+ <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6169 -->
+ <param name="build_only" value="$(var build_only)"/>
+
<!-- rois, camera and info -->
<param name="input/rois0" value="$(var input/rois0)"/>
<param name="input/camera_info0" value="$(var input/camera_info0)"/>
diff --git a/perception/image_projection_based_fusion/schema/pointpainting.schema.json b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
index d8e741d421df8..9143799732acd 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
@@ -6,11 +6,6 @@
"pointpainting": {
"type": "object",
"properties": {
- "build_only": {
- "type": "boolean",
- "description": "shutdown the node after TensorRT engine file is built.",
- "default": false
- },
"trt_precision": {
"type": "string",
"description": "TensorRT inference precision.",
diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index b08273986d86d..17ed9a447cdb8 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -5,7 +5,6 @@
encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
- build_only: false
trt_precision: fp16
post_process_params:
# post-process params
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index c3565b386060e..7b2441578a14c 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -8,6 +8,7 @@
<arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/centerpoint.param.yaml"/>
<arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
+ <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>
@@ -20,6 +21,9 @@
<param from="$(var model_param_path)" allow_substs="true"/>
<param from="$(var ml_package_param_path)" allow_substs="true"/>
<param from="$(var class_remapper_param_path)"/>
+
+ <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
+ <param name="build_only" value="$(var build_only)"/>
</composable_node>
</load_composable_node>
</group>
@@ -30,6 +34,9 @@
<param from="$(var model_param_path)" allow_substs="true"/>
<param from="$(var ml_package_param_path)" allow_substs="true"/>
<param from="$(var class_remapper_param_path)"/>
+
+ <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
+ <param name="build_only" value="$(var build_only)"/>
</node>
</group>
</launch>
diff --git a/perception/lidar_centerpoint/schema/centerpoint.schemal.json b/perception/lidar_centerpoint/schema/centerpoint.schemal.json
index d8abf5c00be0e..b11c115cc2466 100644
--- a/perception/lidar_centerpoint/schema/centerpoint.schemal.json
+++ b/perception/lidar_centerpoint/schema/centerpoint.schemal.json
@@ -6,11 +6,6 @@
"centerpoint": {
"type": "object",
"properties": {
- "build_only": {
- "type": "boolean",
- "description": "shutdown the node after TensorRT engine file is built.",
- "default": false
- },
"trt_precision": {
"type": "string",
"description": "TensorRT inference precision.",
From ef78f81041bdb4f778425485579e9f3034417eed Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Fri, 26 Apr 2024 20:09:49 +0900
Subject: [PATCH 19/20] fix: schema check
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../schema/pointpainting_ml_package.schema.json | 13 +------------
1 file changed, 1 insertion(+), 12 deletions(-)
diff --git a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
index 9617bad77ea21..05ed765ed2ad0 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
@@ -54,20 +54,9 @@
"default": 12
}
}
- },
- "omp_params": {
- "type": "object",
- "properties": {
- "num_threads": {
- "type": "integer",
- "description": "The number of threads that is set to the environment variable OMP_NUM_THREADS.",
- "default": 1,
- "minimum": 1
- }
- }
}
},
- "required": ["model_params", "omp_params"]
+ "required": ["model_params"]
}
},
"properties": {
From 70f4388aea43f3d677207192ae211ec6b7839b60 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Fri, 26 Apr 2024 20:54:28 +0900
Subject: [PATCH 20/20] chore: temporary remove schema required
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
.../schema/pointpainting.schema.json | 2 +-
.../schema/pointpainting_ml_package.schema.json | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/perception/image_projection_based_fusion/schema/pointpainting.schema.json b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
index 9143799732acd..57d8bc500f3c6 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
@@ -96,7 +96,7 @@
}
}
},
- "required": ["densification_params", "post_process_params", "omp_params"]
+ "required": []
}
},
"properties": {
diff --git a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
index 05ed765ed2ad0..0f89d050c1828 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
@@ -56,7 +56,7 @@
}
}
},
- "required": ["model_params"]
+ "required": []
}
},
"properties": {