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 5b5fabd4dd886..34f0a01d0a688 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 @@ -3,7 +3,6 @@ - @@ -17,7 +16,6 @@ - diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md index f5a15916f31a9..2a9adedad9074 100644 --- a/perception/lidar_centerpoint/README.md +++ b/perception/lidar_centerpoint/README.md @@ -45,6 +45,15 @@ We trained the models using . | `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 | +### The `build_only` option + +The `lidar_centerpoint` node has `build_only` option to build the TensorRT engine file from the ONNX file. +Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command: + +```bash +ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefix lidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true +``` + ## Assumptions / Known limits - The `object.existence_probability` is stored the value of classification confidence of a DNN, not probability. diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml index 0b29a87965b42..a9c3174846d0d 100644 --- a/perception/lidar_centerpoint/config/centerpoint.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml @@ -13,3 +13,14 @@ iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + has_twist: false + trt_precision: fp16 + densification_num_past_frames: 1 + densification_world_frame_id: map + + # weight files + encoder_onnx_path: "$(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_$(var model_name).engine" diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml index 8252fde8273d8..474d0e2b695ac 100644 --- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml @@ -13,3 +13,14 @@ iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + has_twist: false + trt_precision: fp16 + densification_num_past_frames: 1 + densification_world_frame_id: map + + # weight files + encoder_onnx_path: "$(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/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml index 1210875770510..5489af2c8fb60 100644 --- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml +++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml @@ -7,8 +7,6 @@ - - @@ -19,18 +17,11 @@ - - - - - - - - - - - + + + + @@ -38,18 +29,11 @@ - - - - - - - - - - - + + + +