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refactor(autoware_launch): add lidar models params (autowarefoundatio…
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…n#450)

* init commit

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* add centerpoint params

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* remove dupplicated commits

Signed-off-by: ismetatabay <ismet@leodrive.ai>

---------

Signed-off-by: ismetatabay <ismet@leodrive.ai>
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ismetatabay authored Jul 24, 2023
1 parent 9f7bdf2 commit f69d476
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15 changes: 15 additions & 0 deletions ..._launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
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/**:
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]
15 changes: 15 additions & 0 deletions ...ch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
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/**:
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
# 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]
38 changes: 38 additions & 0 deletions ...g/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml
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/**:
ros__parameters:
allow_remapping_by_area_matrix:
# NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
# NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
# row: original class. column: class to remap to
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 0, 1, 0, 1, 0, 0, 0, #CAR
0, 0, 0, 0, 1, 0, 0, 0, #TRUCK
0, 0, 0, 0, 1, 0, 0, 0, #BUS
0, 0, 0, 0, 0, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE
0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE
0, 0, 0, 0, 0, 0, 0, 0] #PEDESTRIAN

min_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN


max_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN
10 changes: 10 additions & 0 deletions ...aunch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
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/**:
ros__parameters:
class_names: ["CAR", "PEDESTRIAN", "BICYCLE"]
point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
max_voxel_size: 40000
point_cloud_range: [-76.8, -76.8, -3.0, 76.8, 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, 0.0, 0.3]
1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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name="object_recognition_detection_object_merger_distance_threshold_list_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
/>
<arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
<arg
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
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