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refactor(centerpoint, pointpainting): rearrange parameters for ML mod…
…els and packages (autowarefoundation#6591) * refactor: lidar_centerpoint Signed-off-by: badai-nguyen <[email protected]> * refactor: pointpainting Signed-off-by: badai-nguyen <[email protected]> * chore: fix launch Signed-off-by: badai-nguyen <[email protected]> * chore: fix launch Signed-off-by: badai-nguyen <[email protected]> * chore: rearrange params Signed-off-by: badai-nguyen <[email protected]> * fix: json-schema-check error Signed-off-by: badai-nguyen <[email protected]> * fix: default param Signed-off-by: badai-nguyen <[email protected]> * refactor: rename param file Signed-off-by: badai-nguyen <[email protected]> * chore: typo Signed-off-by: badai-nguyen <[email protected]> * fix: align centerpoint param namespace with pointpainting Signed-off-by: badai-nguyen <[email protected]> * fix(centerpoint): add schema json Signed-off-by: badai-nguyen <[email protected]> * fix(pointpainting): fix schema json typo Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * docs: update pointpainting fusion doc Signed-off-by: badai-nguyen <[email protected]> * docs: update lidar centerpoint doc Signed-off-by: badai-nguyen <[email protected]> * fix: change omp param Signed-off-by: badai-nguyen <[email protected]> * fix:change twist and variance to model params Signed-off-by: badai-nguyen <[email protected]> * fix: keep build_only in launch Signed-off-by: badai-nguyen <[email protected]> * fix: schema check Signed-off-by: badai-nguyen <[email protected]> * chore: temporary remove schema required Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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22 changes: 5 additions & 17 deletions
22
perception/image_projection_based_fusion/config/pointpainting.param.yaml
100755 → 100644
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,33 +1,21 @@ | ||
| /**: | ||
| 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"] | ||
| 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 | ||
| 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: 0 | ||
| 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] | ||
| densification_params: | ||
| world_frame_id: "map" | ||
| num_past_frames: 1 | ||
| omp_params: | ||
| # omp params | ||
| num_threads: 1 |
13 changes: 13 additions & 0 deletions
13
perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| /**: | ||
| 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 | ||
| has_twist: false | ||
| has_variance: false |
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74 changes: 74 additions & 0 deletions
74
perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Point Painting ML model", | ||
| "type": "object", | ||
| "definitions": { | ||
| "pointpainting_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 | ||
| }, | ||
| "paint_class_names": { | ||
| "type": "array", | ||
| "description": "An array of class names will be painted by PointPainting", | ||
| "default": ["CAR", "BICYCLE", "PEDESTRIAN"], | ||
| "uniqueItems": true | ||
| }, | ||
| "point_feature_size": { | ||
| "type": "integer", | ||
| "description": "A number of channels of point feature layer.", | ||
| "default": 7 | ||
| }, | ||
| "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": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] | ||
| }, | ||
| "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] | ||
| }, | ||
| "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": 12 | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| "required": [] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/pointpainting_ml_package" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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