refactor: remove unused variables

Signed-off-by: Taekjin LEE <[email protected]> fix: implement non-maximum suppression logic to the transfusion Signed-off-by: Taekjin LEE <[email protected]> refactor: remove unused parameter iou_nms_target_class_names Signed-off-by: Taekjin LEE <[email protected]> Revert "fix: implement non-maximum suppression logic to the transfusion" This reverts commit b8017fc. fix: revert transfusion modification
autowarefoundation · Dec 10, 2024 · 8d9311a · 8d9311a
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diff --git a/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml b/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml
@@ -9,7 +9,6 @@
     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

diff --git a/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md b/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md
@@ -43,7 +43,6 @@ The lidar points are projected onto the output of an image-only 2d object detect
 | `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.            |

diff --git a/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json b/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json
@@ -46,12 +46,6 @@
               "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.",

diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -171,9 +171,6 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
 
   {
     autoware::lidar_centerpoint::NMSParams p;
-    p.nms_type_ = autoware::lidar_centerpoint::NMS_TYPE::IoU_BEV;
-    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");

diff --git a/perception/autoware_lidar_centerpoint/README.md b/perception/autoware_lidar_centerpoint/README.md
@@ -56,7 +56,6 @@ Note that these parameters are associated with ONNX file, predefined during the
 | `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.              |
@@ -267,7 +266,6 @@ point_cloud_range, point_feature_size, voxel_size, etc. according to the trainin
     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]

diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml
@@ -10,7 +10,6 @@
     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

diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml
@@ -11,7 +11,6 @@
     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
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml
@@ -10,7 +10,6 @@
     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

diff --git a/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json b/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json
@@ -42,12 +42,6 @@
               "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.",